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A variety of magnetic devices can be manipulated remotely using a single permanent “actuator” magnet positioned in space by a robotic manipulator. This paper describes the spherical-actuator-magnet manipulator (SAMM), which is designed to replace or augment the singularity-prone spherical wrist used by prior permanent-magnet manipulation systems. The SAMM uses three omniwheels to enable holonomic...
A variety of magnetic devices can be manipulated remotely using a single permanent “actuator” magnet positioned in space by a robotic manipulator. This paper presents the spherical-actuator-magnet manipulator (SAMM), which is designed to replace or augment the singularity-prone spherical wrist used by prior permanent-magnet manipulation systems. The SAMM uses three omniwheels to enable holonomic control...
Untethered magnetic devices, such as magnetic microrobots and magnetically actuated capsule endoscopes, stand to significantly impact the field of minimally invasive medicine. These devices, which we refer to as magnetically actuated tools (MATs), are often controlled using electromagnets, which can be expensive to scale clinically. Due to their potential for low-cost and high strength, permanent...
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