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Abstract

Synchronization plays an important role in propelling microrobots, especially for those driven by an external magnetic field. Here, we substantially contribute to the understanding of a novel out-of-sync phenomenon called “slip-out”, which has been recently discovered in experiments of an artificial microtubule (AMT). In a deterministic situation, we interpret and quantitatively characterize the switching in such a system between the stick and slip modes, whose different combinations over time define four long-term states. The stick-and-slip state is the most typical “slip-out” state with periodic switching, caused by both the phase lock between the microrod and the magnetic field, and the time-dependent magnetic moment. We then illustrate that thermal noise leads to stochastic switching by stimulating the phase difference across a specific threshold randomly. Finally, we reproduce the average velocity simulatively, which is highly consistent with real experiments. Importantly, the nearly permanent slip state is probed by our analysis of long-term states rather than observing real experiments. The investigation supports the design and operational strategies of AMT and other microrobots driven by magnetic fields.