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

Journal article (2023)

Authors

A. Riccardi Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
Guilherme P. Furtado University of Twente
J. Sikorski University of Twente, Rijksuniversiteit Groningen, University Medical Center Groningen
Marilena Vendittelli Sapienza University of Rome
Sarthak Misra Rijksuniversiteit Groningen, University Medical Center Groningen, University of Twente
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 A. Riccardi, Guilherme P. Furtado, Jakub Sikorski, Marilena Vendittelli, Sarthak Misra
DOI
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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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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

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.