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Model-based calibration of a magnetic workspace not only provides a smooth representation of the field and its gradient matrix, but also uses physical constraints to smooth the calibration measurements. This paper presents the first model-based technique to calibrate a magnetic manipulation system by using nonlinear least squares to solve for a scalar potential for each source. The performance of...
This paper presents the design, kinematics, fabrication, and magnetic manipulation of a milli-gripper for medical applications. The design employs a permanent magnet for two purposes. It actuates the compliant gripper and allows for maneuverability of the milli-gripper in an externally applied magnetic field generated by an electromagnetic manipulation system. The modular milli-gripper can be manipulated...
We demonstrate five-degree-of-freedom (5-DOF) wireless magnetic control of a fully untethered microrobot with a magnetic steering system we call OctoMag. Although only occupying a single hemisphere, this system is capable of isotropically applying forces on the order of 1-40 μN with unrestricted control of the 2 orienting DOF. These capabilities are enabled through the use of soft-magnetic-cores which...
We demonstrate five-degree-of-freedom (5-DOF) wireless magnetic control of a fully untethered microrobot (3-DOF position, 2-DOF pointing orientation). The microrobot can move through a large workspace, and is completely unrestrained in the rotation degrees of freedom. We accomplish this level of wireless control with an electromagnetic system that we call OctoMag. OctoMag's unique abilities are due...
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