Ahmed Hafez

2 accepted papers

2025

Ensemble Control of a 2-DOF Parallel Link Arm in a Capsule Robot Using Oscillating External Magnetic Fields

Zihan Zhao, Ahmed Hafez, Shuhei Miyashita

ICRA 2025

Providing oral capsule robots with additional degrees of freedom (DOF), such as robotic arms, is crucial for enhancing their functionality within the body. However, a key challenge arises when using rotating magnetic fields to drive the motor within the robot, as the resulting torque causes the enti

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2024

Wirelessly Actuated Rotation-free Magnetic Motor

Umur Ulas Harman, Ahmed Hafez, Cameron Duffield, Zihan Zhao, Luke Dixon, Daniela Rus +1

IROS 2024poster

This paper addresses the challenge of actuating millimetre-sized motors, which are wirelessly driven by external magnetic fields. Traditional approaches, relying on rotating magnetic fields, often inadvertently cause the entire robot – especially if it is small and lightweight – to rotate, instead o…

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