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