18 accepted papers
Autonomous navigation of magnetic microswarms in dynamic and unstructured environments is essential for biomedical applications, such as targeted therapy and minimally invasive interventions. However, existing path planning methods struggle to simultaneously achieve real-time adaptability and path s…
Motion control of magnetic microswarms has attracted extensive attention due to its significance in microrobots-based biomedical applications such as targeted drug delivery. However, such reconfigurable microswarms are subject to complex interactions between individuals and environments which make a
With the growing significance of non-intrusive speech quality assessment in speech systems, existing methods predominantly rely on neural networks to extract low-order features. Typically, these features undergo a low-dimensional linear transformation, yielding the network’s output. However, the int…
Untethered magnetic microrobots with control-lable locomotion property and multiple functions have attracted lots of attention in recent years. Owing to the small scale, micro-robots with automatic navigation possess a promising perspec-tive for biomedical applications including precise delivery and…
Magnetic field is a favorable power source for actuation and control of micro-/nanorobots. To overcome the fast decay of magnetic field for large-workspace microrobotic actuation, mobile field source-based systems have been proposed. In this work, we report a new mobile-coil system, i.e., QuadMag. I…
Based on deep learning technology, non-intrusive methods have received increasing attention for synthetic speech quality assessment since it does not need reference signals. Meanwhile, i-vector has been widely used in paralinguistic speech attribute recognition such as speaker and emotion recognitio…
Soft microrobotics have recently been an active field that advances microrobotics with new robot design, locomotion, and applications. In this paper, we study the ferrofluid robot (FR), which has soft nature and exhibits paramagnetism. Currently, the FR locomotion is usually realized by magnetic for…
Magnetic microrobot swarms have attracted lots of research interests in the robotics field. Since the remote actuation of swarm can be affected by the accuracy of the external magnetic field, electro-magnetic systems capable of generating precise magnetic fields have great value. In this work, we pr
Mechanical rubbing of blood clot using miniature magnetic helical robots is a potential way for thrombolysis. In this paper, we report a new strategy for this issue based on mobile coils. Previously, we proposed the concept of magnetic actuation with parallel mobile coils, in which multiple coils ca…
Endovascular surgery has become a popular minimally invasive approach to diagnose and treat various vascular diseases. However, manipulating conventional passive guidewires and catheters still has technical challenges, such as long duration and undesired trauma. In addition, radiation exposure induc
Various morphologies and motions have been investigated extensively for robots on substrates or interfaces. However, the locomotion of modular robots in 3D free spaces remains challenging owing to zero dependence on boundaries, in particular at small scales. Here we propose simply modularized miniat
Large workspace localization of magnetic robots is important for medical applications. This paper presents a novel localization strategy to achieve simultaneous localization and actuation of magnetic robots using hall-effect sensors. We integrate 25 sensors into a sensing probe and mount it on to th…
Recently, swarm control of micro-/nanorobots has drawn much attention in the field of microrobotics. This paper reports a mobile paramagnetic nanoparticle swarm with the capability of active shape deformation that can improve its environment adaptability. We show that, by applying elliptical rotatin…
Magnetic helical microswimmers can be propelled by rotating magnetic field and are adept at passing through narrow space. To date, various magnetic actuation systems and control methods have been developed to drive these microswimmers. However, steering their spacial movement in a large workspace is…
In this paper, a novel magnetic manipulation system using mobile coils for remote actuation of magnetic untethered devices in an enlarged workspace is proposed and studied. A parallel mechanism is implemented to actuate the mobile coils. A proof-of-concept prototype is designed and constructed, name…
Microrobotic cargo delivery possesses promising perspective for precision medicine, and has attracted much attention recently. However, its automation remains challenging, especially with complex environmental conditions, such as obstacles and obstructed optical feedback. In this paper, we propose a…
Microrobots are considered as promising tools for biomedical applications. However, the imaging of them becomes challenges in order to be further applied on in vivo environments. Here we report the magnetic navigation of a paramagnetic nanoparticle-based swarm using ultrasound images. The swarm can…
In this letter, we report a miniature swimming robot that consists of a nonmagnetic V-shaped head, an I-shaped tail attached with a magnet and a flexible link for interconnection of the rigid head and tail. The use of a flexible link enables the robot to exhibit two different vibration modes by tuni