DexterousMag: A Reconfigurable Electromagnetic Actuation System for Miniature Helical Robot
Jialin Lin, Dandan Zhang

TL;DR
DexterousMag introduces a reconfigurable electromagnetic actuation system for miniature helical robots, enabling task-adaptive operation and improved efficiency through continuous geometric reconfiguration of coil arrangements.
Contribution
The paper presents a novel reconfigurable electromagnetic actuation system with a parallel mechanism allowing continuous geometric adjustments for miniature robots.
Findings
Reconfiguration expands operational workspace and trade-offs between depth reach and field strength.
Precomputed actuation libraries enable efficient task-specific configurations.
Demonstrated improved task performance and energy efficiency in experiments.
Abstract
Despite the promise of magnetically actuated miniature helical robots for minimally invasive interventions, state-of-the-art electromagnetic actuation systems are often space-inefficient and geometrically fixed. These constraints hinder clinical translation and, moreover, prevent task-adaptive trade-offs among workspace coverage, energy distribution, and field/gradient capability. We present DexterousMag, a robot-arm-assisted three-coil electromagnetic actuation system that enables continuous geometric reconfiguration of a compact coil group, thereby redistributing magnetic-field and gradient capability for task-adaptive operation. The reconfiguration is realized by a parallel mechanism that exposes a single geometric DOF of the coil group, conveniently parameterized by the polar angle. Using an FEM-based modeling pipeline, we precompute actuation and gradient libraries and quantify the…
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Taxonomy
TopicsSoft Robotics and Applications · Micro and Nano Robotics · Modular Robots and Swarm Intelligence
