Multimodal Imaging, Drug Delivery, and On-Board Triggered Degradation in Soft Capsule Rolling Microrobots - Castellanos-Robles, D.; Doineau, R.C.L.M.; Aziz, A.; Nauber, R.; Wu, S.; Moreno, S.; Mitropoulou, K.; Hebenstreit, F.; Medina-Sánchez, M. (Advanced Intelligent Systems, 2024)