Next Article in Journal
A Y-Shaped Microfluidic Device to Study the Combined Effect of Wall Shear Stress and ATP Signals on Intracellular Calcium Dynamics in Vascular Endothelial Cells
Previous Article in Journal
An Interference-Assisted Thermal Bonding Method for the Fabrication of Thermoplastic Microfluidic Devices
Article Menu
Issue 11 (November) cover image

Export Article

Open AccessArticle
Micromachines 2016, 7(11), 212;

Automatic Path Tracking and Target Manipulation of a Magnetic Microrobot

State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
University of Chinese Academy of Sciences, Beijing 100049, China
Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR 72701, USA
Beijing Advanced Innovation Center for Imaging Technology, Capital Normal University, Beijing 100037, China
Authors to whom correspondence should be addressed.
Academic Editors: Duc Truong Pham and Nam-Trung Nguyen
Received: 25 July 2016 / Revised: 13 October 2016 / Accepted: 18 November 2016 / Published: 23 November 2016
Full-Text   |   PDF [9590 KB, uploaded 24 November 2016]   |  


Recently, wireless controlled microrobots have been studied because of their great development prospects in the biomedical field. Electromagnetic microrobots have the advantages of control agility and good precision, and thus, have received much attention. Most of the control methods for controlling a magnetic microrobot use manual operation. Compared to the manual method, the automatic method will increase the accuracy and stability of locomotion and manipulation of microrobots. In this paper, we propose an electromagnetic manipulation system for automatically controlling the locomotion and manipulation of microrobots. The microrobot can be automatically controlled to track various paths by using visual feedback with an expert control algorithm. A positioning accuracy test determined that the position error ranges from 92 to 293 μm, which is less than the body size (600 μm) of the microrobot. The velocity of the microrobot is nearly proportional to the applied current in the coils, and can reach 5 mm/s. As a micromanipulation tool, the microrobot is used to manipulate microspheres and microgears with the automatic control method. The results verify that the microrobot can drag, place, and drive the microstructures automatically with high precision. The microrobot is expected to be a delicate micromachine that could play its role in microfluidics and blood vessels, where conventional instruments are hard to reach. View Full-Text
Keywords: magnetic microrobot; automatic path tracking; expert control; magnetic microrobot; micromanipulation magnetic microrobot; automatic path tracking; expert control; magnetic microrobot; micromanipulation

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Share & Cite This Article

MDPI and ACS Style

Wang, J.; Jiao, N.; Tung, S.; Liu, L. Automatic Path Tracking and Target Manipulation of a Magnetic Microrobot. Micromachines 2016, 7, 212.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Micromachines EISSN 2072-666X Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top