3 accepted papers
This paper extends recent work in demonstrating magnetic manipulation of conductive, nonmagnetic objects using rotating magnetic dipole fields. The current state of the art demonstrates dexterous manipulation of solid copper spheres with all object parameters known a priori. Our approach expands the…
Magnetic actuation, also known as magnetic manipulation, refers to the use of controlled magnetic fields, generated by electromagnets or permanent magnets, to impart forces and torques on a remote magnetic object. The magnetic object is typically modeled as a magnetic dipole, affording five-degree-o
In this paper, we describe a soft-robotic actuation concept to enable a mesoscale medical robot to navigate the natural lumens of the body, such as blood vessels and intestines. The concept comprises a simple soft robot with two embedded permanent magnets with alternating magnetic polarity, and a ro…