6 accepted papers
We present a real-time model-based simulator-in-the-loop control for a robotic electromagnetic actuator (EMA) in this letter. We first formulate a simplified magnetic field model applicable to a real-time simulator by using the Biot–Savart law and a mathematical approximation. Subsequently, we embed
Electromagnetic actuation of micro-/milli-sized agents has traditionally relied on large electromagnets positioned at considerable distances from the agents. As a result, the electromagnets consume kilowatts of power to overcome the limited generation of magnetic field gradients. Miniaturized electr
Magnetic actuation of minimally invasive medical tetherless devices holds great promise in several biomedical applications. However, there are still several challenges in noninvasive localization, both in terms of sensing detectable signals of these devices and estimating their states. In this work,
Soft fingers with multiple segments can perform various grasping modes when each segment is individually controlled, although this requires a number of inputs and leads to a complicated structure. In this paper, we propose a multi-segment soft finger capable of generating dual modes only using a sin
A cylindrical shaped marine invertebrate ascidian has muscle fibers surrounding its body, which induce the contraction motion when the animal senses the external stimuli. As inspired by its cylindrical shape and the contraction motion of the ascidian, we introduce a soft robot that resembles this wa
Control of tetherless magnetically actuated helical robots using rotating dipole fields has a wide variety of medical applications. The most promising technique in manipulation of these robots involves a rotating permanent magnet controlled by a robotic manipulator. In this work, we study the open-l…