Field Model Identification and Control of a Mobile Electromagnet for Remote Actuation of Soft Robots

Journal article (2023)

Authors

Guilherme P. Furtado University of Twente

J. Sikorski Rijksuniversiteit Groningen, University Medical Center Groningen, University of Twente

Marilena Vendittelli Sapienza University of Rome

Sarthak Misra University of Twente, University Medical Center Groningen, Rijksuniversiteit Groningen

DOI: https://doi.org/10.1109/LRA.2023.3280814

Control Modeling Robots Magnetic fields Electromagnets Soft robotics Magnetic domains Manipulators And Learning for Soft Robots Magnetic Devices Medical Robots and Systems Micro/Nano Robots Robot Task Control Soft magnetic materials

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Published Date

2023

Language

English

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Abstract

The actuation of miniaturized robots through external magnetic fields has great potential for medical applications. The controllability properties of the miniaturized robots are affected by magnetic field generation modality. In this work, the magnetic field of a mobile electromagnet, notably capable to generate a desired magnetic field in large 3D workspaces, has been identified first. Then, a control model of the field generation system has been developed to produce a desired magnetic field designed to generate a locomotion gait in a legged miniaturized robot. Preliminary experiments prove the viability of the approach.

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