Steering and control of miniaturized untethered soft magnetic grippers with haptic assistance.

ABSTRACT: Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steering systems currently available enable humans to intuitively and effectively control dexterous miniaturized robots in a remote environment. In this paper, we present an innovative micro teleoperation system with haptic assistance for the intuitive steering and control of miniaturized self-folding soft magnetic grippers in 2-D space. The soft grippers can be wirelessly positioned using weak magnetic fields and opened/closed by changing their temperature. An image-guided algorithm tracks the positi

SUBMITTER: Pacchierotti C 

PROVIDER: S-EPMC6697175 | biostudies-literature | 2018 Jan

REPOSITORIES: biostudies-literature