Miniaturized Variable Stiffness Gripper Locally Actuated by Magnetic Fields
Lukas Masjosthusmann,
Michiel Richter,
Pavlo Makushko
et al.
Abstract:In minimally invasive surgery, grippers are essential for tissue manipulation. However, in commercial tendon‐driven systems, challenges remain, including tendon fatigue and bulkiness. Promising alternatives are magnetically actuated systems, offering contactless steering but limited forces. To overcome this, a miniaturized, locally actuated magnetic gripper with variable stiffness is presented. The gripper employs thin planar coils (75 μm) and a radially magnetized plunger, enabling local actuation and enhance… Show more
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