Haptic Feedback Control Strategy for Microswarm Navigation in Flowing Environments
Ying Cao, Yanjia Yuan, Qijun Yang, Shengming Luo, Xuanyu An, Haoyu Zhang, Jiansheng Du, Xiaoyu Wang
Abstract
Swarming microrobots offer great promise for targeted delivery in biofluidic environments. However, current approaches insufficiently utilize the operator’s perceptual awareness and interactive decision-making capabilities. This work proposes a real-time navigation and control strategy with haptic feedback for delivering magnetic microswarm, in which the haptic feedback system provides microswarm-environment interaction to the operator. The real-time tracking system continuously monitors the position and shape of the microswarm in the remote environment, transmitting data to the control system for decision-making. This integration can achieve real-time perception and feedback of the microswarm’s state and motion process. Moreover, the strategy successfully demonstrates navigation and shape-adaptive regulation of the microswarm under static, downstream and three-dimensional (3D) upstream flow conditions. The experimental results show that the haptic feedback enables real-time trajectory and velocity adjustments during navigation, improving control robustness and delivery accuracy. Our work expands a haptic feedback-enabled microswarm control in dynamic conditions, providing an adaptive swarm control strategy in complex biomedical environments.
BibTeX
@inproceedings{iros2025_hapticfeedbackco,
title = {Haptic Feedback Control Strategy for Microswarm Navigation in Flowing Environments},
author = {Ying Cao and Yanjia Yuan and Qijun Yang and Shengming Luo and Xuanyu An and Haoyu Zhang and Jiansheng Du and Xiaoyu Wang and Qianqian Wang},
booktitle = {IROS 2025},
year = {2025}
}