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Robotic manipulation of small objects has shown great potential for engineering, biology, and chemistry research. However, existing robotic platforms have difficulty in achieving contactless, high-resolution, 4-degrees-of-freedom (4-DOF) manipulation of small objects, and noninvasive maneuvering of objects in regions shielded by tissue and bone barriers. Here, we present chirality-tunable acoustic vortex tweezers that can tune acoustic vortex chirality, transmit through biological barriers, trap single micro- to millimeter-sized objects, and control object rotation. Assisted by programmable robots, our acoustic systems further enable contactless, high-resolution translation of single objects. Our systems were demonstrated by tuning acoustic vortex chirality, controlling object rotation, and translating objects along arbitrary-shaped paths. Moreover, we used our systems to trap single objects in regions with tissue and skull barriers and translate an object inside a Y-shaped channel of a thick biomimetic phantom. In addition, we showed the function of ultrasound imaging–assisted acoustic manipulation by monitoring acoustic object manipulation via live ultrasound imaging. 

The Leidenfrost effect—the levitation and hovering of liquid droplets on hot solid surfaces—generally requires a sufficiently high substrate temperature to activate liquid vaporization. Here we report the modulation of Leidenfrost-like jumping of sessile water microdroplets on micropillared surfaces at a relatively low temperature. Compared to traditional Leidenfrost effect occurring above 230 °C, the fin-array-like micropillars enable water microdroplets to levitate and jump off the surface within milliseconds at a temperature of 130 °C by triggering the inertia-controlled growth of individual vapour bubbles at the droplet base. We demonstrate that droplet jumping, resulting from momentum interactions between the expanding vapour bubble and the droplet, can be modulated by tailoring of the thermal boundary layer thickness through pillar height. This enables regulation of the bubble expansion between the inertia-controlled mode and the heat-transfer-limited mode. The two bubble-growth modes give rise to distinct droplet jumping behaviours characterized by constant velocity and constant energy regimes, respectively. This heating strategy allows the straightforward purging of wetting liquid droplets on rough or structured surfaces in a controlled manner, with potential applications including the rapid removal of fouling media, even when located in surface cavities.