Development of rolling magnetic microrobots

Jiang, Guan Lin; Guu, Y. H.; Lu, Chiang Ni; Li, Pei Kao; Shen, Hui Mei; Lee, Lung Sheng; Yeh, J. Andrew; Hou, Max Ti-Kuang

doi:10.1088/0960-1317/20/8/085042

Cited by 47 publications

(29 citation statements)

References 25 publications

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“…The micro agent made of pure neodymium-iron-boron magnetic block [8] can translate in a rocking (stick-slip) mode with pulsing magnetic field signals. The ball shape [9] and rod shape ("RodBot") [10] prototypes have also been fabricated to roll on surfaces. Tumbling locomotion has also been realized through a microscale magnetic microrobot [11,12].…”

Section: Related Workmentioning

confidence: 99%

A Magnetic Microrobot with in situ Force Sensing Capabilities

Jing

2014

Robotics

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This paper presents a proof-of-concept prototype of a micro force sensing mobile microrobot. The design consists of a planar, elastic mechanism serving as computer vision-based force sensor module, while the microrobot body is made from a magnetic layer driven by a magnetic field. From observing the deformation of the elastic mechanism, manipulation forces can be determined. The deformation is tracked by a CCD camera attached to an optical microscope. This design is validated through experimental tests with a micromachined prototype. The preliminary results verify this first microrobot prototype is indeed capable of in situ force sensing. This concept can be scaled down further for next generation designs and can be designed for real biomedical applications on microscale.

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Section: Related Workmentioning

confidence: 99%

A Magnetic Microrobot with in situ Force Sensing Capabilities

Jing

2014

Robotics

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“…Stick-slip motion induced by magnetic torques can produce translation [28]. In addition to the stick-slip method, magnetic forces can produce a rolling motion on spherical magnetic micro-bodies [29]. Using magnetic forces as a direct propulsion method requires a stronger magnetic field to move the micro-device [21], but generates higher magnetic forces when interacting with micro-objects.…”

Section: Challenges Of Magnetic Micro-robot Actuationmentioning

confidence: 99%

An overview of multiple DoF magnetic actuated micro-robots

Bouchebout

Bolopion

Abrahamians

et al. 2012

J. Micro-Nano Mech.

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This paper reviews the state of the art of untethered, wirelessly actuated and controlled micro-robots. Research for such tools is being increasingly pursued to provide solutions for medical, biological and industrial applications. Indeed, due to their small size they offer both high velocity, and accessibility to tiny and clustered environments. These systems could be used for in vitro tasks on lab-on-chips in order to push and/or sort biological cells, or for in vivo tasks like minimally invasive surgery and could also be used in the micro-assembly of microcomponents. However, there are many constraints to actuating, manufacturing and controlling micro-robots, such as the impracticability of on-board sensors and actuators, common hysteresis phenomena and nonlinear behavior in the environment, and the high susceptibility to slight variations in the atmosphere like tiny dust or humidity. In this work, the major challenges that must be addressed are reviewed and some of the best performing multiple DoF micro-robots sized from tens to hundreds µm are presented. The different magnetic micro-robot platforms are presented and compared. The actuation method as well as the control strategies are analyzed. The reviewed magnetic micro-robots highlight the ability of wireless actuation and show that high velocities can be reached. However, major issues on actuation and control must be overcome in order to perform complex micro-manipulation tasks.

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“…In similar work, a permanent magnet has been positioned both by hand and with a robot manipulator for the control of an untethered capsule endoscope, but with 4-DOF control (i.e., 2-DOF orientation control and 2-DOF position control since the endoscope always contacts a tissue surface) [10,12,13,15,26]. Permanent-magnet systems have also been used to actuate untethered devices by rolling [2,4,14,24,28] and helical propulsion [4,17].…”

Section: Introductionmentioning

confidence: 99%

5-DOF Manipulation of an Untethered Magnetic Device in Fluid using a Single Permanent Magnet

Mahoney

Abbott

2014

Robotics: Science and Systems X

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Abstract-This paper presents a three degree-of-freedom (3-DOF) closed-loop position and 2-DOF open-loop orientation control method for an untethered mockup magnetic capsule endoscope in fluid with a single permanent magnet positioned by a commercial robotic manipulator and a 3-DOF capsuleposition localization system. Using traditional methods known to roboticists, we study the kinematics of untethered magnetic manipulation using a single permanent magnet as the endeffector of a robot manipulator. We present a control method that maintains 5-DOF control of a magnetic capsule when the robot manipulator is not near a kinematic singularity, and seamlessly enables a capsule's position to be controlled when the manipulator nears a kinematic singularity by sacrificing control over the capsule's orientation. We demonstrate the method's robustness to a control rate of 25 Hz, reduced localization rates down to 30 Hz, and the presence of manipulator singularities. 5-DOF manipulation of an untethered device has been previously demonstrated by electromagnetic systems only. This work has applications for robotic capsule endoscopy of a fluid-distended stomach.

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Development of rolling magnetic microrobots

Cited by 47 publications

References 25 publications

A Magnetic Microrobot with in situ Force Sensing Capabilities

A Magnetic Microrobot with in situ Force Sensing Capabilities

An overview of multiple DoF magnetic actuated micro-robots

5-DOF Manipulation of an Untethered Magnetic Device in Fluid using a Single Permanent Magnet

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