Control of the wireless microrobot with multi-DOFs locomotion for medical applications

Takuya Okada*, Shuxiang Guo, Nan Xiao, Fu Qiang, Yasuhiro Yamauchi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

19 Citations (Scopus)

Abstract

In this paper, we discuss a multi-DOFs locomotion and position detection system of the microrobot to realize the wireless locomotion. Also we propose one wireless microrobot with two motions controlled by changing the outside magnetic field. When generating alternating magnetic field, the microrobot can be driven by the fin motion just like fish. When generating rotating magnetic field, the microrobot can move in the spiral jet motion. Based on the experimental results of the locomotion, we confirm that the microrobot can move in forward, backward, floating motion and turning motion. In addition, we have developed a position detection system of the microrobot. We use least square method to solve the inverse problem. To evaluate the error of the proposed position detection system, we will do experiment by using 6 magnetic field sensors and program. Base on this experiment, we also confirm that the proposed position detection system can detect the position of the microrobot within 50mm from sensor in vertical direction, and its average error is within 6.09mm.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012
Pages2405-2410
Number of pages6
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012 - Chengdu, China
Duration: 5 Aug 20128 Aug 2012

Publication series

Name2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012

Conference

Conference2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012
Country/TerritoryChina
CityChengdu
Period5/08/128/08/12

Keywords

  • magnetic robot
  • multi-DOFs locomotion
  • position detection system
  • wireless robot

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