Selective Motion Control of Cell Microrobots in Three-Dimensional Space
Haoyu Zhang, Yimin Sun, Xuanyu An, Jiansheng Du, Shengming Luo, Ying Cao, Jiangfan Yu, Qianqian Wang
Abstract
Magnetic microrobots are showing great potential in micromanipulation due to the capability of motion control under external fields. However, achieving selective control of magnetic microrobots in three-dimensional (3D) space using global magnetic fields still presents a challenge. In this work, we propose a selective control strategy based on a movable electromagnetic coil system, incorporating a mass-spring-damping model to achieve precise control of cell microrobots in 3D space. By combining theoretical analysis with vision-based feedback, experiments are demonstrated in different scenarios, including step climbing and ring traversal, validating the control capability in different environments. Furthermore, by utilizing the differences in magnetic responses among cell microrobots, this strategy enables selective manipulation of multiple cell microrobots, demonstrating real-time sorting manipulation in a 3D space. Our work presents a strategy that can be applied to selectively manipulate magnetic microrobots in complex environments.
BibTeX
@inproceedings{iros2025_selectivemotionc,
title = {Selective Motion Control of Cell Microrobots in Three-Dimensional Space},
author = {Haoyu Zhang and Yimin Sun and Xuanyu An and Jiansheng Du and Shengming Luo and Ying Cao and Jiangfan Yu and Qianqian Wang},
booktitle = {IROS 2025},
year = {2025}
}