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Swimming at the microscale typically involves two modes of motion: mechanical propulsion and propulsion due to field interactions. During mechanical propulsion, particles swim by reconfiguring their geometry. When propelled by field interactions, body forces such as phoretic interactions drive mobility. In this work, we employ slender-body theory to explore how a bent rod actuator propels due to a mechanical mode of swimming via hinge articulations and due to a chemical mode of swimming via diffusiophoretic interactions with a solute field. Although previous theoretical studies have examined mechanical and chemical modes of swimming in isolation, the simultaneous investigation of both modes has remained unexplored. For the mechanical mode of swimming, our calculations, both numerical and analytical, recover Purcell’s scallop theorem and show that the bent rod actuator experiences zero net displacement during reciprocal motion. Additionally, we calculate the trajectories traced by a bent rod actuator under a non-reciprocal hinge articulation, revealing that these trajectories are influenced by the amplitude of the hinge articulation, geometric asymmetry, and the angular velocity distribution between the two arms of the bent rod actuator. We provide intuitive explanations for these effects using free-body diagrams. Furthermore, we explore the motion induced by simultaneous hinge articulations and self-diffusiophoresis. We observe that hinge articulations can modify the effective phoretic forces and torques acting on the bent rod actuator, either supporting or impeding propulsion. Additionally, during self-diffusiophoretic propulsion, reciprocal hinge articulations no longer result in zero net displacement. In summary, our findings chart a new direction for designing micron-sized objects that harness both mechanical and chemical modes of propulsion synchronously, offering a mechanism to enact control over trajectories. 

Microrobots are being explored for biomedical applications, such as drug delivery, biological cargo transport, and minimally invasive surgery. However, current efforts largely focus on proof-of-concept studies with nontranslatable materials through a "design-and-apply" approach, limiting the potential for clinical adaptation. While these proof-of-concept studies have been key to advancing microrobot technologies, we believe that the distinguishing capabilities of microrobots will be most readily brought to patient bedsides through a "design-by-problem" approach, which involves focusing on unsolved problems to inform the design of microrobots with practical capabilities. As outlined below, we propose that the clinical translation of microrobots will be accelerated by a judicious choice of target applications, improved delivery considerations, and the rational selection of translation-ready biomaterials, ultimately reducing patient burden and enhancing the efficacy of therapeutic drugs for difficult-to-treat diseases. 

Diffusiophoresis refers to the phenomenon where colloidal particles move in response to solute concentration gradients. Existing studies on diffusiophoresis, both experimental and theoretical, primarily focus on the movement of colloidal particles in response to one-dimensional solute gradients. In this work, we numerically investigate the impact of two-dimensional solute gradients on the distribution of colloidal particles, i.e. , colloidal banding, induced via diffusiophoresis. The solute gradients are generated by spatially arranged sources and sinks that emit/absorb a time-dependent solute molar rate. First we study a dipole system, i.e. , one source and one sink, and discover that interdipole diffusion and molar rate decay timescales dictate colloidal banding. At timescales shorter than the interdipole diffusion timescale, we observe a rapid enhancement in particle enrichment around the source due to repulsion from the sink. However, at timescales longer than the interdipole diffusion timescale, the source and sink screen each other, leading to a slower enhancement. If the solute molar rate decays at the timescale of interdipole diffusion, an optimal separation distance is obtained such that particle enrichment is maximized. We find that the partition coefficient of solute at the interface between the source and bulk strongly impacts the optimal separation distance. Surprisingly, the diffusivity ratio of solute in the source and bulk has a much weaker impact on the optimal dipole separation distance. We also examine an octupole configuration, i.e. , four sinks and four sources, arranged in a circle, and demonstrate that the geometric arrangement that maximizes enrichment depends on the radius of the circle. If the radius of the circle is small, it is preferred to have sources and sinks arranged in an alternating fashion. However, if the radius of the circle is large, a consecutive arrangement of sources and sinks is optimal. Our numerical framework introduces a novel method for spatially and temporally designing the banded structure of colloidal particles in two dimensions using diffusiophoresis and opens up new avenues in a field that has primarily focused on one-dimensional solute gradients.