A Hybrid Magnetic Actuation System for Hybrid Microrobotic Targeted Delivery
Yuanbiao Ma, Shengming Luo, Bin Wang, Haoyu Zhang, Ji Lang, Zhiqiang Tang, Li Zhang, Qianqian Wang
Abstract
Magnetic microrobots hold great promise for biomedical applications. However, achieving flexible magnetic field adjustment with a magnetic actuation system (MAS) to actuate diverse microrobots remains a significant challenge. In this work, we propose an Electromagnetic-Permanent Magnet Actuation (EPMA) system that generates controllable magnetic field variations to enable microrobot actuation for diverse tasks, including microrobotic actuation, microswarm pattern transformation and targeted delivery. Automatic ellipsoid calibration of the Hall sensors enables real-time magnetic field orientation measurement with an error under 3◦. Experimental results demonstrate the microrobot's actuation performance in four distinct scenarios, with a rotation frequency of 0.5 Hz. Furthermore, by adjusting the dynamic magnetic field, we achieve microswarm pattern reconfiguration under static conditions as well as targeted delivery in fluidic environments at a flow speed of 52 mm/s and a rotation frequency of 4 Hz. This study presents a hybrid MAS for the microrobotic actuation in diverse environments by controllable dynamic magnetic fields.