Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance

• Published in: IEEE transactions on automation science and engineering Vol. 15; no. 1; pp. 290 - 306
• Main Authors: Pacchierotti, Claudio, Ongaro, Federico, van den Brink, Frank, Yoon, ChangKyu, Prattichizzo, Domenico, Gracias, David H., Misra, Sarthak
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.01.2018; Institute of Electrical and Electronics Engineers
• Subjects: Biopsy; Computer Science; Grasping; Grippers; haptics; magnetic control; Magnetic resonance imaging; microrobotics; microteleoperation; Robotics; Robots; Soft magnetic materials; soft robotics; grasping; micro teleoperation; haptics; magnetic control; soft robotics; microrobotics

Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steeri...