conference International Conference on Robotics and Automation (ICRA’2019).

Performance Metrics for a Robotic Actuation System Using Static and Mobile Electromagnets

  • EMA
  • Modeling

This conference paper investigates the performance evaluation of a robotic EMA system that extends the static coil arrangements of OctoMag.

Authors
Affiliations

Ruipeng Chen

Antoine Ferreira

Published

Abstract

Wireless magnetic microrobots can perform complex tasks for small-scale minimally invasive surgery (MIS) that requires high precision and dexterity. The choice of the configuration of the electromagnetic actuation (EMA) system is a key issue for reliable medical applications. This paper addresses the study of a robotic EMA platform firstly devoted to ophthalmic MIS, aiming at improving the manipulability and dexterity of the procedure. To this end, a robotic EMA system comprising four static and four mobile electromagnets is investigated. Evaluation of the magnetic force and torque, the manipulability and the dexterity indexes of EMA platforms are studied. The results demonstrate that a robotic EMA platform increases the versatility of the EMA system, and becomes resourceful to perform various tasks.

Keywords: Coils, dexterity indexes, electromagnetic actuation system, electromagnetic actuators, performance metrics,

If you cannot see the PDF above, please download it instead.

Notice

Warning

The documents contained in this page are included to ensure timely dissemination of scholarly and technical work on a non-commercial basis. Copyright and all rights therein are maintained by the authors or by other copyright holders, notwithstanding that they have offered their works here electronically. It is understood that all persons copying this information will adhere to the terms and constraints invoked by each author’s copyright. These works may not be re-posted without the explicit permission of the copyright holder.

Acknowledgments

Note

This publication page was generated using Quarto listing with a custom EJS template. Some information is published in the post issued 2023-08-17.

Reuse

Citation

BibTeX citation:
@inproceedings{chen2019,
  author = {Chen, Ruipeng and Folio, David and Ferreira, Antoine},
  publisher = {IEEE},
  title = {Performance {Metrics} for a {Robotic} {Actuation} {System}
    {Using} {Static} and {Mobile} {Electromagnets}},
  booktitle = {International Conference on Robotics and Automation
    (ICRA’2019)},
  pages = {2474-2480},
  date = {2019-08-12},
  eventdate = {2019-05-20/2019-05-24},
  url = {https://dfolio.fr/publications/conferences/2019chenICRA.html},
  doi = {10.1109/ICRA.2019.8794092},
  langid = {en},
  abstract = {Wireless magnetic microrobots can perform complex tasks
    for small-scale minimally invasive surgery (MIS) that requires high
    precision and dexterity. The choice of the configuration of the
    electromagnetic actuation (EMA) system is a key issue for reliable
    medical applications. This paper addresses the study of a robotic
    EMA platform firstly devoted to ophthalmic MIS, aiming at improving
    the manipulability and dexterity of the procedure. To this end, a
    robotic EMA system comprising four static and four mobile
    electromagnets is investigated. Evaluation of the magnetic force and
    torque, the manipulability and the dexterity indexes of EMA
    platforms are studied. The results demonstrate that a robotic EMA
    platform increases the versatility of the EMA system, and becomes
    resourceful to perform various tasks.}
}
For attribution, please cite this work as:
Chen R., Folio D., and Ferreira A., “Performance Metrics for a Robotic Actuation System Using Static and Mobile Electromagnets,” in International Conference on Robotics and Automation (ICRA’2019), Montreal, QC, Canada, 2019, pp. 2474–2480 [Online]. Available: https://dfolio.fr/publications/conferences/2019chenICRA.html