Matrix analysis
Measuring the allocation of control in a 6 degree-of-freedom docking experiment
Proceedings of the SIGCHI conference on Human Factors in Computing Systems
Surgical Forces and Tactile Perception During Retinal Microsurgery
MICCAI '99 Proceedings of the Second International Conference on Medical Image Computing and Computer-Assisted Intervention
International Journal of Robotics Research
Introduction to Magnetic Materials
Introduction to Magnetic Materials
Modeling and Experimental Characterization of an Untethered Magnetic Micro-Robot
International Journal of Robotics Research
International Journal of Robotics Research
Performance evaluation for multi-arm manipulation of hollow suspended organs
IEEE Transactions on Robotics
Six-Axis Magnetic Levitation and Motion Control
IEEE Transactions on Robotics
Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies
IEEE Transactions on Robotics
Steerable intravitreal inserts for drug delivery: in vitro and ex vivo mobility experiments
MICCAI'11 Proceedings of the 14th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Automatic Documentation and Mathematical Linguistics
Automated biomanipulation of single cells using magnetic microrobots
International Journal of Robotics Research
Independent control of multiple magnetic microrobots in three dimensions
International Journal of Robotics Research
Closed-loop control of magnetotactic bacteria
International Journal of Robotics Research
Theoretical analysis and simulations of micro-dosing locomotive robot with drug-release mechanism
Robotics and Autonomous Systems
Hi-index | 0.00 |
We demonstrate five-degree-of-freedom (5-DOF) wireless magnetic control of a fully untethered microrobot (3-DOF position and 2-DOF pointing orientation). The microrobot can move through a large workspace and is completely unrestrained in the rotation DOF. We accomplish this level of wireless control with an electromagnetic system that we call OctoMag. OctoMag's unique abilities are due to its utilization of complex nonuniform magnetic fields, which capitalizes on a linear representation of the coupled field contributions of multiple soft-magnetic-core electromagnets acting in concert. OctoMag was primarily designed to control intraocular microrobots for delicate retinal procedures, but it also has potential uses in other medical applications or micromanipulation under an optical microscope.