International Journal of Robotics Research
Wide-Angle Intraocular Imaging and Localization
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
A wireless acoustic emitter for passive localization in liquids
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Wide-angle localization of intraocular devices from focus
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Actively controlled manipulation of a magnetic microbead using quadrupole magnetic tweezers
IEEE Transactions on Robotics
OctoMag: an electromagnetic system for 5-DOF wireless micromanipulation
IEEE Transactions on Robotics
Control methodologies for a heterogeneous group of untethered magnetic micro-robots
International Journal of Robotics Research
Oscillatory motion-based miniature magnetic walking robot actuated by a rotating magnetic field
Robotics and Autonomous Systems
An MRI-powered and controlled actuator technology for tetherless robotic interventions
International Journal of Robotics Research
Hi-index | 0.00 |
We calculate the torque and force generated by an arbitrary magnetic field on an axially symmetric soft-magnetic body. We consider the magnetization of the body as a function of the applied field, using a continuous model that unifies two disparate magnetic models. The continuous torque and force follow. The model is verified experimentally, and captures the often neglected region between weak and saturating fields, where interesting behavior is observed. We provide the field direction to maximize torque for a given field magnitude. We also find an absolute maximum torque, for a given body geometry and material, which can be generated with relatively weak applied fields. This paper is aimed at those interested in systems-level analysis, simulation, and real-time control of soft-magnetic bodies.