Design of Multi-Degrees-of-Freedom Microrobots Driven by Homogeneous Quasi-Static Magnetic Fields

Salmanipour, Sajad; Youssefi, Omid; Diller, Eric

doi:10.1109/tro.2020.3016511

Cited by 22 publications

(10 citation statements)

References 38 publications

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“…Herein, we prove that the dEPM platform is capable of achieving similar levels of magnetic manipulability to what can be obtained with system of coils [5], [6]. We expect that the proposed actuation system can introduce a novel approach in remote actuation of small medical devices, which can generate stronger fields in a larger workspace compared to its coil-based counterpart.…”

Section: Discussionsupporting

confidence: 56%

“…Millimeter scale magnetic actuation poses several challenges, related to the generated uniform fields in a larger workspace and the requirement of higher actuating wrenches (forces and torques), thus higher field strengths. While successful multi-DOFs magnetic actuation has been demonstrated at small scale [1], [2], [3], [4], [5], [6], by using systems of coils, large-scale (milli-to centi-meter) manipulation is yet to be fully proven. In fact, it might require several independentlycontrolled coils [7], [8], [9] to be effective along any possible direction of motion.…”

mentioning

confidence: 99%

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Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets

et al. 2023

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Section: Discussionsupporting

confidence: 56%

mentioning

confidence: 99%

Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets

et al. 2023

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“…Although proven to be challenging, there are active explorations aiming to realize independent and collaborative control of multiple far‐field MSMs, including modulating phase or frequency response, [ 13,30,48–50 ] shape‐based magnetic anisotropy, [ 51,52 ] stiffness variability, [ 53 ] or manipulating the field topology [ 54,55 ] at the cost of system complexity. [ 56 ] In the latter case, independent control of far‐field MSMs, which are generally actuated with magnetic torques, requires 3 degrees of freedom (DOF) per effector when gradients are considered negligible.…”

Section: Introductionmentioning

confidence: 99%

Locally Addressable Energy Efficient Actuation of Magnetic Soft Actuator Array Systems

et al. 2023

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Advances in magnetoresponsive composites and (electro‐)magnetic actuators have led to development of magnetic soft machines (MSMs) as building blocks for small‐scale robotic devices. Near‐field MSMs offer energy efficiency and compactness by bringing the field source and effectors in close proximity. Current challenges of near‐field MSM are limited programmability of effector motion, dimensionality, ability to perform collaborative tasks, and structural flexibility. Herein, a new class of near‐field MSMs is demonstrated that combines microscale thickness flexible planar coils with magnetoresponsive polymer effectors. Ultrathin manufacturing and magnetic programming of effectors is used to tailor their response to the nonhomogeneous near‐field distribution on the coil surface. The MSMs are demonstrated to lift, tilt, pull, or grasp in close proximity to each other. These ultrathin (80 µm) and lightweight (100 gm−2) MSMs can operate at high frequency (25 Hz) and low energy consumption (0.5 W), required for the use of MSMs in portable electronics.

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“…While substantial research effort has been invested in how to generate the external magnetic field, e.g., with combinations of electromagnetic coils [4], [5], [6], [7] or robot-mounted permanent magnets [8], [9], [10], [11], the systematic design of the steerable tip is a topic of current and growing interest [12], [13]. The earliest magnetic steerable tip designs were comprised of a single permanent magnet Fig.…”

Section: Introductionmentioning

confidence: 99%

Magnetic Ball Chain Robots for Endoluminal Interventions

Pittiglio¹,

Mencattelli²,

Dupont³

2023

Preprint

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This paper introduces a novel class of hyperredundant robots comprised of chains of permanently magnetized spheres enclosed in a cylindrical polymer skin. With their shape controlled using an externally-applied magnetic field, the spherical joints of these robots enable them to bend to very small radii of curvature. These robots can be used as steerable tips for endoluminal instruments. A kinematic model is derived based on minimizing magnetic and elastic potential energy. Simulation is used to demonstrate the enhanced steerability of these robots in comparison to magnetic soft continuum robots designed using either distributed or lumped magnetic material. Experiments are included to validate the model and to demonstrate the steering capability of ball chain robots in bifurcating channels.

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Design of Multi-Degrees-of-Freedom Microrobots Driven by Homogeneous Quasi-Static Magnetic Fields

Cited by 22 publications

References 38 publications

Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets

Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets

Locally Addressable Energy Efficient Actuation of Magnetic Soft Actuator Array Systems

Magnetic Ball Chain Robots for Endoluminal Interventions

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