OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation

  title={OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation},
  author={Bradley Kratochvil and Michael P. Kummer and Jake J. Abbott and Ruedi Borer and Olgaç Ergeneman and Bradley J. Nelson},
  journal={IEEE Transactions on Robotics},
We demonstrate five-degree-of-freedom (5-DOF) wireless magnetic control of a fully untethered microrobot (3-DOF position and 2-DOF pointing orientation). The microrobot can move through a large workspace and is completely unrestrained in the rotation DOF. We accomplish this level of wireless control with an electromagnetic system that we call OctoMag. OctoMag's unique abilities are due to its utilization of complex nonuniform magnetic fields, which capitalizes on a linear representation of the… CONTINUE READING
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