Fig. 2

Structure of the microswimmer and the applied magnetic field. a Microswimmer is treated as a rigid structure with two mutually perpendicular planes of symmetry. b Schematic of the rotating magnetic field with constant flux density. Blue dashed line and arrow refer to the normal line and rotation direction of the magnetic field, respectively. Pitch angle \(\alpha\) is between the normal line and Z-axis, and yaw angle \(\beta\) is between X-axis and projection of the normal line in the XY-plane