8 accepted papers
Magnetic actuation enables surgical robots to navigate complex anatomical pathways while reducing tissue trauma and improving surgical precision. However, clinical deployment is limited by the challenges of controlling such systems under fluoroscopic imaging, which provides low framerate and noisy p…
Reconfigurable modular robots can dynamically assemble/disassemble to accomplish the desired task better. Magnetic modular cubes are scalable modular subunits with embedded permanent magnets in a 3D-printed cubic body and can be wirelessly controlled by an external, uniform, time-varying magnetic fi
This paper presents an adaptive backstepping controller for the reference tracking of an alginate artificial cell. An adaptive controller was implemented to precisely manipulate a magnetic artificial cell actuated by rotating magnetic fields. The rolling motion of a small-scale robot in a fluidic en…
This paper examines a family of designs for magnetic cubes and counts how many configurations are possible for each design as a function of the number of modules. Magnetic modular cubes are cubes with magnets arranged on their faces. The magnets are positioned so that each face has either magnetic s…
Magnetic millirobots can be controlled remotely by external magnetic fields, making them promising candidates for biomedical and engineering applications. This letter presents a low-cost millirobot that is simple in design, easy to fabricate, highly scalable, and can be used as modular sub-units wit
The modular assembly and actuation of 3D printed milliscale cuboid robots using a globally applied magnetic field is presented. Cuboids are composed of a rectangular resin shell embedded with two spherical permanent magnets that can independently align with any applied magnetic field. Placing cuboid…
This paper presents scalable designs and fabrication, actuation, and manipulation techniques for soft millirobots under uniform magnetic field control. The millirobots were fabricated through an economic and robust moulding technique using polydimethylsiloxane (PDMS), acrylonitrile butadiene styrene…
This paper presents 2D feedback control and open loop 3D trajectories of heterogeneous chemically catalyzing Janus particles. Self-actuated particles have enormous implications for both in vivo and in vitro environments, which make them a diverse resource for a variety of medical and assembly applic…