Locomotion through soft materials of paired solid spheres as a miniature robot

Locomotion of a small device through soft media such as living tissue remotely actuated by magnetic field is analyzed. The device consists of two differently sized magnetized or magnetizable spheres of millimeter or sub-millimeter diameter interacting with each other magnetically, but otherwise disconnected from each other. The magnetic field transfers energy to the pair by changing direction and magnitude, while the pair executes a reversible motion gait by increasing and decreasing the distance between the sphere centers. The locomotion model is based on previously developed model of solid sphere motion through soft medium.