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Title: Multimodal soft-bodied locomotion for millimeter-scale magnetic robots with six-DOF
Authors: Li, Jianhuang
Keywords: Engineering::Mechanical engineering
Issue Date: 2021
Publisher: Nanyang Technological University
Source: Li, J. (2021). Multimodal soft-bodied locomotion for millimeter-scale magnetic robots with six-DOF. Final Year Project (FYP), Nanyang Technological University, Singapore.
Project: B309
Abstract: Miniature robots are mobile device that are in the micro to millimetre scale. Untethered miniature robots have the potential to revolutionise minimal invasive surgery and targeted drug deliveries due to its advantage in size where the robot can access hard to reach area and potentially perform various task within the body. Among the off-board actuation methods, magnetic actuation has the most potential in realising biomedical applications as it offers precise control, and the magnetic field can harmlessly penetrate human body. However, existing magnetically actuated soft robot can only exhibit a maximum of five degrees of freedom as the theory for the precise control of the sixth degree of freedom rotation is not well understood. Here we present the design of a millimetre-scale soft robot that is magnetically actuated with multimodal soft locomotion that offers up to six degree of freedom control. The robot can roll, two anchor crawl, undulate crawl, jump on solid surface, and swim in liquid. The preliminary experiments conducted shows promising result. Future experiments should be conducted to compare the dexterous of the proposed robots with existing miniature robots.
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Student Reports (FYP/IA/PA/PI)

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