2018
Independent Control of Multiple Degrees of Freedom Local Magnetic Actuators With Magnetic Cross-Coupling Compensation
RA-L 2018
This letter tackles the problem of independent control of multiple degrees of freedom (DoF) systems based on local magnetic actuation (LMA). This is achieved by means of a modular disturbance rejection scheme, with the aim of enhancing the range of use of multiple-DoF LMAs in dexterous surgical mani