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.
Highlights
Untethered, controllable, mobile microrobots have been proposed for numerous applications, ranging from industrial tasks, in vitro tasks to in vivo applications, due to their small-scale dimensions and accessibility to tiny and complex environments [1,2,3,4,5,6,7,8,9]
This paper is organized as follows: Section 2 presents the magnetic actuation by magnetic forces and torques; Section 3 reviews the various magnetic actuation systems allowing differently-sized workspace and degrees of freedom (DoF); the motion control methods from open-loop pre-programmed control to closed-loop path following are reviewed in Section 4; the discussion of the choice of magnetic the actuation system and motion control method is included in Section 5, with a conclusion and the challenges for futures works
Similar to OctoMag, electromagnetic systems consisting of multiple independently-controlled electromagnets are widely used for magnetically-actuated microrobots, such as the MiniMag with eight electromagnets used by Schuerle et al [60], a system with six electromagnets developed by Pawashe et al [61], a system with eight electromagnets arranged in a different way used by Diller et al [62] and And et al [54] and a system with four electromagnets used by Khalil et al [42]
Summary
Untethered, controllable, mobile microrobots have been proposed for numerous applications, ranging from industrial tasks, in vitro tasks to in vivo applications, due to their small-scale dimensions and accessibility to tiny and complex environments [1,2,3,4,5,6,7,8,9]. High propulsion power and the pumping mechanism of motion permit the microrobot to load multiple objects and transport them to desired locations in the microfluidic chip [19,20]. The aim of this paper is to review the magnetic actuation systems and the motion control methods for microrobots. An overall benchmark on the magnetic actuation systems and control method according to the applications will be discussed. This paper is organized as follows: Section 2 presents the magnetic actuation by magnetic forces and torques; Section 3 reviews the various magnetic actuation systems allowing differently-sized workspace. DoF; the motion control methods from open-loop pre-programmed control to closed-loop path following are reviewed in Section 4; the discussion of the choice of magnetic the actuation system and motion control method is included, with a conclusion and the challenges for futures works DoF; the motion control methods from open-loop pre-programmed control to closed-loop path following are reviewed in Section 4; the discussion of the choice of magnetic the actuation system and motion control method is included in Section 5, with a conclusion and the challenges for futures works
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