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Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, Hong Kong, China


Shenzhen Research Institute, The Chinese University of Hong Kong, Shenzhen 518100, China


Robotics Engineering Department, Daegu Gyeongbuk Institute of Science and Technology DGIST, Daegu 704-230, Korea


Chow Yuk Ho Technology Centre for Innovative Medicine, The Chinese University of Hong Kong, Shatin, Hong Kong, China


Authors to whom correspondence should be addressed.

Academic Editors: Toshio Fukuda, Mohd Ridzuan bin Ahmad and Yajing Shen

Abstract Untethered, controllable, mobile microrobots have been proposed for numerous applications, ranging from micro-manipulation, in vitro tasks e.g., operation of microscale biological substances to in vivo applications e.g., targeted drug delivery; brachytherapy; hyperthermia, etc., due to their small-scale dimensions and accessibility to tiny and complex environments. Researchers have used different magnetic actuation systems allowing custom-designed workspace and multiple degrees of freedom DoF to actuate microrobots with various motion control methods from open-loop pre-programmed control to closed-loop path-following control. This article provides an overview of the magnetic actuation systems and the magnetic actuation-based control methods for microrobots. An overall benchmark on the magnetic actuation system and control method is also discussed according to the applications of microrobots. View Full-Text

Keywords: microrobots; magnetic actuation; control microrobots; magnetic actuation; control

Autor: Tiantian Xu 1,2,* , Jiangfan Yu 1, Xiaohui Yan 1, Hongsoo Choi 3,* and Li Zhang 1,2,4,*



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