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Three-degrees-of-freedom orientation manipulation of small untethered robots with a single anisotropic soft magnet

Author

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  • Heng Wang

    (South China University of Technology, Guangzhou)

  • Junhao Cui

    (South China University of Technology, Guangzhou)

  • Kuan Tian

    (South China University of Technology, Guangzhou)

  • Yuxiang Han

    (South China University of Technology, Guangzhou)

Abstract

Magnetic actuation has been well exploited for untethered manipulation and locomotion of small-scale robots in complex environments such as intracorporeal lumens. Most existing magnetic actuation systems employ a permanent magnet onboard the robot. However, only 2-DoF orientation of the permanent-magnet robot can be controlled since no torque can be generated about its axis of magnetic moment, which limits the dexterity of manipulation. Here, we propose a new magnetic actuation method using a single soft magnet with an anisotropic geometry (e.g., triaxial ellipsoids) for full 3-DoF orientation manipulation. The fundamental actuation principle of anisotropic magnetization and 3-DoF torque generation are analytically modeled and experimentally validated. The hierarchical orientation stability about three principal axes is investigated, based on which we propose and validate a multi-step open-loop control strategy to alternatingly manipulate the direction of the longest axis of the soft magnet and the rotation about it for dexterous 3-DoF orientation manipulation.

Suggested Citation

  • Heng Wang & Junhao Cui & Kuan Tian & Yuxiang Han, 2023. "Three-degrees-of-freedom orientation manipulation of small untethered robots with a single anisotropic soft magnet," Nature Communications, Nature, vol. 14(1), pages 1-14, December.
    • Handle: RePEc:nat:natcom:v:14:y:2023:i:1:d:10.1038_s41467-023-42783-5
    DOI: 10.1038/s41467-023-42783-5
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    1. Richard Nauber & Sandhya R. Goudu & Maren Goeckenjan & Martin Bornhäuser & Carla Ribeiro & Mariana Medina-Sánchez, 2023. "Medical microrobots in reproductive medicine from the bench to the clinic," Nature Communications, Nature, vol. 14(1), pages 1-9, December.
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