scholarly journals Untethered Origami Worm Robot with Diverse Multi-Leg Attachments and Responsive Motions under Magnetic Actuation

Robotics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 118
Author(s):  
Manivannan Sivaperuman Kalairaj ◽  
Catherine Jiayi Cai ◽  
Pavitra S ◽  
Hongliang Ren
Keyword(s):  
Structure Design ◽  
Rolling Motion ◽  
Magnetic Actuation ◽  
Peristaltic Motion ◽  
Complete Cycle ◽  
Folding Pattern ◽  
Magnetically Actuated ◽  
Robotic Motion ◽  
Turning Motion ◽  
Design Yield

Nowadays, origami folding in combination with actuation mechanisms can offer deployable structure design, yield compliance, and have several properties of soft material. An easy complex folding pattern can yield an array of functionalities in actuated hinges or active spring elements. This paper presents various cylinder origami robot designs that can be untethered magnetically actuated. The different designs are analyzed and compared to achieve the following three types of motion: Peristaltic, rolling, and turning in different environments, namely, board, sandpaper, and sand. The proposed origami robot is able translate 53 mm in peristaltic motion within 20 s and is able to roll one complete cycle in 1 s and can turn ≈ 180∘ in 1.5 s. The robot also demonstrated a peristaltic locomotion at a speed of ≈2.5 mm s−1, ≈1.9 mm s−1, and ≈1.3 mm s−1 in board, sandpaper, and sand respectively; rolling motion at a speed of 1 cycle s−1, ≈0.66 cycles s−1, and ≈0.33 cycles s−1 in board, sandpaper, and sand respectively; and turning motion of ≈180∘, ≈83∘, and ≈58∘ in board, sandpaper, and sand respectively. The evaluation of the robotic motion and actuation is discussed in detail in this paper.

scholarly journals Enhanced real-time pose estimation for closed-loop robotic manipulation of magnetically actuated capsule endoscopes

2018 ◽  
Vol 37 (8) ◽  
pp. 890-911 ◽  
Author(s):  
Addisu Z Taddese ◽  
Piotr R Slawinski ◽  
Marco Pirotta ◽  
Elena De Momi ◽  
Keith L Obstein ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Pose Estimation ◽  
Closed Loop ◽  
Estimation Methods ◽  
Closed Loop Control ◽  
Point Dipole ◽  
Magnetic Actuation ◽  
Loop Control ◽  
Magnetically Actuated ◽  
Capsule Endoscopes

Pose estimation methods for robotically guided magnetic actuation of capsule endoscopes have recently enabled trajectory following and automation of repetitive endoscopic maneuvers. However, these methods face significant challenges in their path to clinical adoption including the presence of regions of magnetic field singularity, where the accuracy of the system degrades, and the need for accurate initialization of the capsule’s pose. In particular, the singularity problem exists for any pose estimation method that utilizes a single source of magnetic field if the method does not rely on the motion of the magnet to obtain multiple measurements from different vantage points. We analyze the workspace of such pose estimation methods with the use of the point-dipole magnetic field model and show that singular regions exist in areas where the capsule is nominally located during magnetic actuation. As the dipole model can approximate most magnetic field sources, the problem discussed herein pertains to a wider set of pose estimation techniques. We then propose a novel hybrid approach employing static and time-varying magnetic field sources and show that this system has no regions of singularity. The proposed system was experimentally validated for accuracy, workspace size, update rate, and performance in regions of magnetic singularity. The system performed as well or better than prior pose estimation methods without requiring accurate initialization and was robust to magnetic singularity. Experimental demonstration of closed-loop control of a tethered magnetic device utilizing the developed pose estimation technique is provided to ascertain its suitability for robotically guided capsule endoscopy. Hence, advances in closed-loop control and intelligent automation of magnetically actuated capsule endoscopes can be further pursued toward clinical realization by employing this pose estimation system.

Design, fabrication and application of magnetically actuated micro/nanorobots: A review

2021 ◽  
Author(s):  
Zhongbao Wang ◽  
Zhenjin Xu ◽  
Bin Zhu ◽  
Yang Zhang ◽  
Jiawei Lin ◽  
...  
Keyword(s):  
Targeted Drug Delivery ◽  
State Of The Art ◽  
Cell Manipulation ◽  
Magnetic Actuation ◽  
Design Strategies ◽  
Human Machine Interaction ◽  
Magnetically Actuated ◽  
Contactless Control ◽  
Future Work ◽  
Machine Interaction

Abstract Magnetically actuated micro/nanorobots are typical micro- and nanoscale artificial devices with favorable attributes of quick response, remote and contactless control, harmless human-machine interaction and high economic efficiency. Under external magnetic actuation strategies, they are capable of achieving elaborate manipulation and navigation in extreme biomedical environments. This review focuses on state-of-the-art progresses in design strategies, fabrication techniques and applications of magnetically actuated micro/nanorobots. Firstly, recent advances of various robot designs, including helical robots, surface walkers, ciliary robots, scaffold robots and biohybrid robots, are discussed separately. Secondly, the main progresses of common fabrication techniques are respectively introduced, and application achievements on these robots in targeted drug delivery, minimally invasive surgery and cell manipulation are also presented. Finally, a short summary is made, and the current challenges and future work for magnetically actuated micro/nanorobots are discussed.

Magnetic Pulse Driven Semi Compliant Four Bar Mechanism

2010 ◽  
Author(s):  
Mutlu S¸entu¨rk ◽  
Murat Can Turan ◽  
Aslı Tekin ◽  
U¨mit So¨nmez ◽  
Kerim Kahraman ◽  
...  
Keyword(s):  
Magnetic Force ◽  
Compliant Mechanism ◽  
Original Position ◽  
Voltage Source ◽  
Magnetic Pulse ◽  
Magnetic Actuation ◽  
Flexible Link ◽  
Magnetically Actuated ◽  
Macro Scale ◽  
Limit Position

A partially compliant four-bar mechanism consists of a rigid crank, a rigid coupler and a flexible link (a rocker) is considered and its actuation by a magnetic force drive is investigated. The magnetic force applied to the coupler or the flexible rocker is converted to a rotational motion of the crank arm. This magnetic actuation force is applied in one direction until the rocker tip reaches its limit position, then with the energy stored in the elastic rocker link, the mechanism returns to its original position resulting of a complete revolution of the crank arm. The magnetic actuation is achieved by an external electromagnet driven by a voltage source and a neodymium permanent magnet attached on the mechanism. A prototype mechanism in macro scale is manufactured and it proved the conceptual contribution of the mechanism. The magnetically actuated compliant mechanism may also find applications in micro scales, actuating the rocker with a conventional rotational comb drive.

scholarly journals Magnetically-actuated, bead-enhanced silicon photonic immunosensor

2015 ◽  
Vol 7 (20) ◽  
pp. 8539-8544 ◽  
Author(s):  
Enrique Valera ◽  
Melinda S. McClellan ◽  
Ryan C. Bailey
Keyword(s):  
Limit Of Detection ◽  
Magnetic Actuation ◽  
Protein Biomarker ◽  
Magnetically Actuated ◽  
Low Concentrations ◽  
Silicon Photonic ◽  
Optical Immunosensor ◽  
Representative Protein

Magnetic actuation has been introduced to an optical immunosensor technology resulting in improvements in both rapidity and limit of detection for an assay quantitating low concentrations of a representative protein biomarker.

Magnetic Nanoparticle Based Nanofluid Actuation With Dynamic Magnetic Fields

2011 ◽  
Author(s):  
Alp Bilgin ◽  
Evrim Kurtoglu ◽  
Hadi Cagdas Erk ◽  
Muhsincan Sesen ◽  
Havva Funda Yagci Acar ◽  
...  
Keyword(s):  
Magnetic Field ◽  
Magnetic Fields ◽  
Magnetic Nanoparticle ◽  
Magnetic Actuation ◽  
Flow Properties ◽  
Pumping System ◽  
Magnetically Actuated ◽  
Microscale Flow ◽  
Nanoparticle Suspensions ◽  
Alternative Research

Magnetic nanoparticle suspensions and their manipulation are becoming an alternative research line and have very important applications in the field of microfluidics such as microscale flow control in microfluidic circuits, actuation of fluids in microscale, and drug delivery mechanisms. In microscale, it is possible and beneficial to use magnetic fields as actuators of such nanofluids, where these fluids could move along a gradient of magnetic field so that a micropump without any moving parts could be generated with this technique. Thus, magnetically actuated nanofluids could have the potential to be used as an alternative micro pumping system. Actuation of ferrofluid plugs with a changing magnetic field has been extensively studied in the literature. However; the flow properties of ferrofluids are sparsely investigated when the ferrofluid itself is forced to continuously flow inside a channel. As an extension of previous studies, this study aims to investigate flows of magnetic nanoparticle based nanofluids by a generated magnetic field and to compare the efficiency of the resulting system. Lauric Acid coated Super Paramagnetic Iron Oxide (SPIO-LA) was used as the ferrofluid sample in the experiments to realise actuation. Significant flow rates up to 61.8μL/s at nominal maximum magnetic field strengths of 300mT were achieved in the experiments. Results suggest that nanofluids with magnetic nanoparticles merit more research efforts in micro pumping. Thus, magnetic actuation could be a significant alternative for more common techniques such as electromechanical, electrokinetic, and piezoelectric actuation.

Fore-Aft Forces in Tire-Wheel Assemblies Generated by Unbalances and the Influence of Balancing

1991 ◽  
Vol 19 (3) ◽  
pp. 142-162 ◽  
Author(s):  
D. S. Stutts ◽  
W. Soedel ◽  
S. K. Jha
Keyword(s):  
Mathematical Model ◽  
Elastic Foundation ◽  
Torsional Oscillation ◽  
Vertical Direction ◽  
Torsional Stiffness ◽  
Rolling Motion ◽  
Vertical Force ◽  
Horizontal Force ◽  
Wheel Rim ◽  
Open Question

Abstract When measuring bearing forces of the tire-wheel assembly during drum tests, it was found that beyond certain speeds, the horizontal force variations or so-called fore-aft forces were larger than the force variations in the vertical direction. The explanation of this phenomenon is still somewhat an open question. One of the hypothetical models argues in favor of torsional oscillations caused by a changing rolling radius. But it appears that there is a simpler answer. In this paper, a mathematical model of a tire consisting of a rigid tread ring connected to a freely rotating wheel or hub through an elastic foundation which has radial and torsional stiffness was developed. This model shows that an unbalanced mass on the tread ring will cause an oscillatory rolling motion of the tread ring on the drum which is superimposed on the nominal rolling. This will indeed result in larger fore-aft than vertical force variations beyond certain speeds, which are a function of run-out. The rolling motion is in a certain sense a torsional oscillation, but postulation of a changing rolling radius is not necessary for its creation. The model also shows the limitation on balancing the tire-wheel assembly at the wheel rim if the unbalance occurs at the tread band.

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