AIConfPaper
← Search

Jakub Sikorski

6 accepted papers

2023

Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft Robots

Alessandro Riccardi, Guilherme Phillips Furtado, Jakub Sikorski, Marilena Vendittelli, Sarthak Misra
RA-L 2023

The actuation of miniaturized robots through external magnetic fields has great potential for medical applications. The controllability properties of the miniaturized robots are affected by magnetic field generation modality. In this work, the magnetic field of a mobile electromagnet, notably capabl

Cited by 2Source ↗Scholar ↗
2023

MagNeed - Needle-Shaped Electromagnets for Localized Actuation Within Compact Workspaces

Juan J. Huaroto, Michiel Richter, Mafalda Malafaia, Jayoung Kim, Chang-Sei Kim, Jong-Oh Park +2
RA-L 2023

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

Cited by 3Source ↗Scholar ↗
2020

MILiMAC: Flexible Catheter With Miniaturized Electromagnets as a Small-Footprint System for Microrobotic Tasks

Jakub Sikorski, Sumit Mohanty, Sarthak Misra
RA-L 2020

Advancements in medical microrobotics have given rise to an abundance of agents capable of localised interaction with human body in small scales. Nevertheless, clinically-relevant applications of this technology are still limited by the auxiliary infrastructure required for actuation of micro-agents

Cited by 15Source ↗Scholar ↗
2020

The ARMM System - Autonomous Steering of Magnetically-Actuated Catheters: Towards Endovascular Applications

Christoff M. Heunis, Yannik P. Wotte, Jakub Sikorski, Guilherme Phillips Furtado, Sarthak Misra
RA-L 2020

Positioning conventional endovascular catheters is not without risk, and there is a multitude of complications that are associated with their use in manual surgical interventions. By utilizing surgical manipulators, the efficacy of remote-controlled catheters can be investigated in vivo. However, te

Cited by 58Source ↗Scholar ↗
2019

Bio-Inspired Terrestrial Motion of Magnetic Soft Millirobots

Venkatasubramanian Kalpathy Venkiteswaran, Luis Fernando Pena Samaniego, Jakub Sikorski, Sarthak Misra
RA-L 2019

Magnetic soft robots have the combined advantages of contactless actuation, requiring no on-board power source, and having flexible bodies that can adapt to unstructured environments. In this study, four milli-scale soft robots are designed (Inchworm, Turtle, Quadruped, and Millipede) and their actu

Cited by 71Source ↗Scholar ↗
2017

Introducing BigMag — A novel system for 3D magnetic actuation of flexible surgical manipulators

Jakub Sikorski, Imro Dawson, Alper Denasi, Edsko E.G. Hekman, Sarthak Misra
ICRA 2017poster

Magnetic interaction can be utilized for remote actuation of surgical manipulators. However, platforms currently available for that purpose have limited workspaces, inadequate field strength or very low bandwidth of the electrical subsystem. In this paper, we present BigMag, a novel platform capable…

Cited by 92Source ↗Scholar ↗