Permanent Magnets based Actuator for Microrobots Navigation

Abbes, Manel; Belharet, Karim; Mekki, Hassen; Poisson, Gérard

doi:10.1109/iros40897.2019.8968558

Cited by 10 publications

(4 citation statements)

References 22 publications

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“…There are multiple solutions for propelling a microrobot in a viscous medium. The solution adopted here is to use a combination of permanent magnets [ 30 , 35 ]. Such a magnetic actuation system can generate magnetic fields that can induce effective forces to a magnetic device in a compact form-factor.…”

Section: Design Specificationsmentioning

confidence: 99%

“…Such a magnetic actuation system can generate magnetic fields that can induce effective forces to a magnetic device in a compact form-factor. The magnetic actutor proposed by our team [ 30 ] and presented in Figure 2 is studied to generate two Lagrangian points in the workspace, called

(unstable point) and

(stable point), Figure 3 . We observe that, on the the actuator axis

, the push force is generated between the two Lagrangian points and the pull force is generated elsewhere.…”

Section: Design Specificationsmentioning

confidence: 99%

“…This strategy does not require the insertion of any catheter or CI inside the cochlea, but only the particles, which considerably limits any casual damage to the cochlea. The particles will be controlled remotely to the cochlea using magnetic forces generated by our proposed magnetic actuator [ 30 ], positioned around the patient’s head. As a further development, we propose a novel manipulator robot to position the magnetic actuator around the patient’s head in this paper.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

CochleRob: Parallel-Serial Robot to Position a Magnetic Actuator around a Patient’s Head for Intracochlear Microrobot Navigation

Nadour

Grayeli

Poisson

et al. 2023

Sensors

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Our work introduces a new robotic solution named CochleRob, which is used for the administration of super-paramagnetic antiparticles as drug carriers into the human cochlea for the treatment of hearing loss caused by damaged cochlea. This novel robot architecture presents two key contributions. First, CochleRob has been designed to meet specifications pertaining to ear anatomy, including workspace, degrees of freedom, compactness, rigidity, and accuracy. The first objective was to develop a safer mathod to administer drugs to the cochlea without the need for catheter or CI insertion. Secondly, we aimed at developing and validating the mathemathical models, including forward, inverse, and dynamic models, to support the robot function. Our work provides a promising solution for drug administration into the inner ear.

show abstract

Section: Design Specificationsmentioning

confidence: 99%

(unstable point) and

(stable point), Figure 3 . We observe that, on the the actuator axis

, the push force is generated between the two Lagrangian points and the pull force is generated elsewhere.…”

Section: Design Specificationsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

CochleRob: Parallel-Serial Robot to Position a Magnetic Actuator around a Patient’s Head for Intracochlear Microrobot Navigation

Nadour

Grayeli

Poisson

et al. 2023

Sensors

Self Cite

View full text Add to dashboard Cite

show abstract

“…Taking advantages of micro-electro-mechanical system (MEMS) techniques, a micro electric motor can be realized. The micro electromagnetic actuator owns mass production and non-assembling process merits, and finds various applications such as healthcare [5] and microrobot control [6].…”

Section: Introductionmentioning

confidence: 99%

A self-attachable and self-alignable micro electromagnetic linear actuator

Zhi¹,

Tang²,

Wang³

et al. 2020

J. Micromech. Microeng.

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This paper presents the design, fabrication and characterization of a novel micro electromagnetic linear actuator, which exhibits two highlights: slider self-alignment and self-attachment capability. Such characters are realized by deliberately utilizing the attractive force between the permanent magnets (Nd2Fe14B) of the slider and nickel ferromagnetic cores embedded in the stator. Actuation is achieved via thrust from both meander micro copper coils and nickel ferromagnetic cores in the stator to the permanent magnets of the slider. The actuator is fabricated by the micro machining process. The surface magnetic property of the slider is simulated and experimentally measured. The eccentric experiment is conducted to evaluate the attraction force between the slider and stator, which proves its self-attachment characteristics. The device is actuated by two-phase sinusoidal currents with a 0.5 A amplitude under an open-loop condition. The slider demonstrates self-alignment movements before moving forward when misalignment occurs. The actuation experimental results show that the average velocity of the slider reaches 4 mm s–1 and 12 mm s–1 at 10 Hz and 30 Hz, respectively. Further increasing the input frequency to 50 Hz leads to the unsteady actuation state, indicating the actuator bandwidth is less than 50 Hz under an open-loop condition.

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A Study on Magnetic Force Characteristics Between Two Cuboidal Permanent Magnets

Pei

Liu

2021

J Supercond Nov Magn

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Permanent Magnets based Actuator for Microrobots Navigation

Cited by 10 publications

References 22 publications

CochleRob: Parallel-Serial Robot to Position a Magnetic Actuator around a Patient’s Head for Intracochlear Microrobot Navigation

CochleRob: Parallel-Serial Robot to Position a Magnetic Actuator around a Patient’s Head for Intracochlear Microrobot Navigation

A self-attachable and self-alignable micro electromagnetic linear actuator

A Study on Magnetic Force Characteristics Between Two Cuboidal Permanent Magnets

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