Mathematical Modelling of Swimming Soft Microrobots presents a theoretical framework for modelling of soft microrobotic systems based on resistive-force theory. Microorganisms are highly efficient at swimming regardless of the rheological and physical properties of the background fluids. This efficiency has inspired researchers and Engineers to develop microrobots that resemble the morphology and swimming strategies of microorganisms. The ultimate goal of this book is threefold: first, to relate resistive-force theory to externally and internally actuated microrobotic systems; second, to enable the readers to develop numerical models of a wide range of microrobotic systems; third, to enable the reader to optimize the design of the microrobot to enhance its swimming efficiency. - Enable the readers to develop numerical models of a wide range of microrobotic systems - Enable the reader to optimize the design of the microrobot to enhance its swimming efficiency - The focus on the development of numerical models that enables Engineers to predict the behavior of the microrobots and optimize their designs to increase their swimming efficiency - Provides videos to demonstrate experimental results and animations from the simulation results

Islam S. M. Khalil is currently an Assistant Professor at the Department of Biomechanical Engineering,
University of Twente, the Netherlands. He received his Ph.D. in mechatronics engineering from Sabanci University
in 2011, and became a postdoctoral Research Associate with the Robotics and Mechatronics research group and
MIRA - Institute for Biomedical Technology and Technical Medicine, University of Twente, the Netherlands. His
research interests include modeling, design, and control of soft microrobots, biologically inspired systems, motion
control systems, mechatronics system design, and untethered magnetic micro/nanorobotics with applications to
micro/nanomanipulation, magnetic manipulation, and targeted drug delivery.

Mathematical Modelling of Swimming Soft Microrobots presents a theoretical framework for modelling of soft microrobotic systems based on resistive-force theory. Microorganisms are highly efficient at swimming regardless of the rheological and physical properties of the background fluids. This efficiency has inspired researchers and Engineers to develop microrobots that resemble the morphology and swimming strategies of microorganisms. The ultimate goal of this book is threefold: first, to relate resistive-force theory to externally and internally actuated microrobotic systems; second, to enable the readers to develop numerical models of a wide range of microrobotic systems; third, to enable the reader to optimize the design of the microrobot to enhance its swimming efficiency.

• Enable the readers to develop numerical models of a wide range of microrobotic systems
• Enable the reader to optimize the design of the microrobot to enhance its swimming efficiency
• The focus on the development of numerical models that enables Engineers to predict the behavior of the microrobots and optimize their designs to increase their swimming efficiency
• Provides videos to demonstrate experimental results and animations from the simulation results

1. Introduction

Part I Fundamentals of the Theory of Elasticity 2. Review of Classical Mechanics 3. Two-Dimensional Deformations

Part II Fundamentals of Electromagnetics 4. Electrostatic and Magnetostatic Fields 5. Magnetic forces and materials

Part III Fundamentals of Fluid Mechanics 6. Viscous fluids 7. Flow with small Reynolds numbers

Part IV Soft Microrobotic Systems 8. Resistive-Force Theory 9. Modelling of Internally Actuated Soft Microrobots 10. Modelling of Externally Actuated Rigid and Soft Microrobots

Part V Appendixes A: Review of Vector calculus B: Units Appendix C: Material Constants