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Magnetic Actuation Based Motion Control for Microrobots: An Overview

by Tiantian Xu 1,2,*, Jiangfan Yu 1, Xiaohui Yan 1, Hongsoo Choi 3,* and Li Zhang 1,2,4,*
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
Micromachines 2015, 6(9), 1346-1364;
Received: 21 July 2015 / Revised: 25 August 2015 / Accepted: 9 September 2015 / Published: 15 September 2015
(This article belongs to the Special Issue Micro/Nano Robotics)
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
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MDPI and ACS Style

Xu, T.; Yu, J.; Yan, X.; Choi, H.; Zhang, L. Magnetic Actuation Based Motion Control for Microrobots: An Overview. Micromachines 2015, 6, 1346-1364.

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