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

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 stabilit

SUBMITTER: Wang H 

PROVIDER: S-EPMC10657469 | biostudies-literature | 2023 Nov

REPOSITORIES: biostudies-literature