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Manipulation of small-scale matter is a fundamental topic in micro and nanorobotics. Numerous magnetic robotic systems have been developed for the manipulation of microparticles in an ambient environment, liquid, as well as on the air-liquid interface. These systems move intrinsically magnetic or magnetically tagged objects by inducing a magnetic torque or force. However, most of the materials found in nature are nonmagnetic. Here, we report a ferrofluidic manipulator for automatic 2-D manipulation of nonmagnetic objects floating on top of a ferrofluid. The manipulation system employs 8-cm-scale solenoids, which can move nonmagnetic particles by deforming the air-ferrofluid interface. Using linear programming, we can control the motion of the nonmagnetic particles with a predefined trajectory of a line, square, and circle with a precision of 25.1 &#x00B1; 19.5, 34.4 &#x00B1; 28.4, and 33.4 &#x00B1; 26.6 &#x03BC;m, respectively. The ferrofluidic manipulator is versatile with the materials and the shapes of the objects under manipulation. We have successfully manipulated particles made of polyethylene, polystyrene, a silicon chip, and poppy and sesame seeds. This article shows a promising venue for the manipulation of living and nonliving matter at the air-liquid interface.

Ferrofluidic Manipulator: Automatic Manipulation of Nonmagnetic Microparticles at the Air–Ferrofluid Interface