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Title: | A Magnetic Helical Miniature Robot with Soft Magnetic-Controlled Gripper |
Authors: | Zhu, A Bai, C Lu, X Zhu, Y Wang, K Zhu, J |
Keywords: | biologically-inspired robots;magnetic control;miniature robots;soft robotics |
Issue Date: | 14-Feb-2024 |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Citation: | Zhu, A. et al. (2024) 'A Magnetic Helical Miniature Robot with Soft Magnetic-Controlled Gripper', IEEE Robotics and Automation Letters, 0 (early access), pp. 1 - 8. doi: 10.1109/LRA.2024.3366018. |
Abstract: | Magnetic helical miniature robots (MHMRs) exhibit efficient motion performance in low Reynolds number environments, having great promise for biomedical applications like targeted delivery. However, during targeted delivery, the backward propulsion of MHMRs in previous work leads to cargo being released, limiting their degrees of freedom and interference resistance. Furthermore, the basic magnetic field parameter, amplitude, has not been effectively utilized in previous MHMRs. In this letter, we propose a magnetic helical miniature robot with soft magnetic-controlled gripper (MHMR-G), using magnetic field amplitude to functionalize MHMRs for the first time. The velocity of MHMR-G is controlled by magnetic field frequency and the grasping of gripper is controlled by magnetic field amplitude. It is proposed that the lag angle and rotation frequency will adversely affect the grasping of gripper under a rotating magnetic field, but results show that increasing magnetic field amplitude can effectively mitigate these adverse effects. Finally, a manipulation test of cargo transport is performed, demonstrating that the gripper of MHMR-G can effectively confine cargo during propulsion. |
URI: | https://bura.brunel.ac.uk/handle/2438/28364 |
DOI: | https://doi.org/10.1109/LRA.2024.3366018 |
Other Identifiers: | ORCiD: Aoji Zhu https://orcid.org/0000-0002-1281-8892 ORCiD: Chenyao Bai https://orcid.org/0000-0003-3510-390X ORCiD: Xiwen Lu https://orcid.org/0000-0002-3126-8996 ORCiD: Yunlong Zhu https://orcid.org/0000-0002-9645-6357 ORCiD: Kezhi Wang https://orcid.org/0000-0001-8602-0800 |
Appears in Collections: | Dept of Computer Science Research Papers |
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