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Non-linear magnetization process (Reprinted with permission from Springer Nature, Copyright 2018.) 59
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In the past decades, wireless milli and micro devices have been incorporated into medical procedures as a way to reduce invasiveness. However, the commercially available methods still consist of passive locomotion devices, which is a limiting factor to the development of minimally invasive devices. Magnetism simplifies the design of small-scale dev...
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... to motion. A wave-like magnetization profile is created by deforming the robot's body in the desired shape and submitting it to a strong magnetic field that will magnetize each part of the deformed robot in the same direction, so when the robot is released, its magnetization profile will retain a non-uniform magnetization direction, as shown in Fig. 3. Applying an alternating magnetic field along this magnetization profile will create an alternating deformation along the soft body, similar to a manta ...
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Citations
... Magnetic actuation is a great candidate for such applications since it is fast, repeatable and eliminates the need for wires, batteries or motors. Several locomotion strategies utilizing magnetism have been demonstrated in previous studies [3]. These strategies include simply pulling via magnetic gradient [4,5], tumbling by a rotating magnetic field [6,7] and spin walking, which is a shift of support between two extremities of an edge [8]. ...
Cancer diagnostics is an important field of cancer recovery and survival with many expensive procedures needed to administer the correct treatment. Machine Learning (ML) approaches can help with the diagnostic prediction from circulating tumor cells in liquid biopsy or from a primary tumor in solid biopsy. After predicting the metastatic potential from a deep learning model, doctors in a clinical setting can administer a safe and correct treatment for a specific patient. This paper investigates the use of deep convolutional neural networks for predicting a specific cancer cell line as a tool for label free identification. Specifically, deep learning strategies for weight initialization and performance metrics are described, with transfer learning and the accuracy metric utilized in this work. The equipment used for prediction involves brightfield microscopy without the use of chemical labels, advanced instruments, or time-consuming biological techniques, giving an advantage over current diagnostic methods. In the procedure, three different binary datasets of well-known cancer cell lines were collected, each having a difference in metastatic potential. Two different classification models were adopted (EfficientNetV2 and ResNet-50) with the analysis given for each stage in the ML architecture. The training results for each model and dataset are provided and systematically compared. We found that the test set accuracy showed favorable performance for both ML models with EfficientNetV2 accuracy reaching up to 99%. These test results allowed EfficientNetV2 to outperform ResNet-50 at an average percent increase of 3.5% for each dataset. The high accuracy obtained from the predictions demonstrates that the system can be retrained on a large-scale clinical dataset.
... Magnetic actuation is a great candidate for such applications since it is fast, repeatable and eliminates the need for wires, batteries or motors. Several locomotion strategies utilizing magnetism have been demonstrated in previous studies [3]. These strategies include simply pulling via magnetic gradient [4,5], tumbling by a rotating magnetic field [6,7] and spin walking, which is a shift of support between two extremities of an edge [8]. ...
Recent developments in minimally invasive medicine have been fomenting the development of smaller and controllable devices. However, one of the major challenges toward decreasing invasiveness of medical procedures is miniaturizing actuators to milli- or microscale while maintaining reliability. This is the context in which magnetic actuation surfaces as an excellent candidate for designing such devices. Among the gaps in currently minimally invasive medicine is the lack of active locomotion capabilities in wireless devices. Worm-like motion has been successfully demonstrated with magnetorheological robots before; however, an in-depth analysis of how these beam-shaped robots interact with the supporting surface has not been conducted yet. In this work we analyze several support configurations between soft bodied robot over a flat surface and propose an algorithm with the goal of predicting the behavior of a given magnetic robot under an applied magnetic field. Robots ranging from approximately 10–40 mm were manufactured and used for the verification of our proposed model and algorithm. Comparison between simulation and experiment results showed good agreement indicating that this methodology can be a critical tool during the design stage of magnetic soft robots.
... 61 Recent developments of magnetically actuated small-scale soft robots for locomotion are summarized. [62][63][64] The review focusing in particular on the use of magnetic torque is given by Erb et al. 65 The generation of internal magnetic torques due to the particle interactions with an applied magnetic field can be sufficient to overcome the material elasticity and realize various programmable actuation shapes of MAEs. For elastomers filled with magnetically soft particles, there is a paramagnetic torque arising from the geometric anisotropy of individual particles driving them to align their easy axes in the direction of an applied field. ...
Smart materials such as magnetoactive elastomers (MAEs) combine elastic and magnetic properties that can be significantly changed in response to a magnetic field and therefore offer enormous potential for applications in both scientific research and engineering. When such an elastomer contains microsized hard magnetic particles, it can become an elastic magnet once magnetized in a strong magnetic field. This article studies a multipole MAE with the aim of utilizing it as an actuation element of vibration-driven locomotion robots. The elastomer beam has three magnetic poles overall with the same poles at the ends and possesses silicone bristles protruding from its underside. The quasi-static bending of the multipole elastomer in a uniform magnetic field is investigated experimentally. The theoretical model exploits the magnetic torque to describe the field-induced bending shapes. The unidirectional locomotion of the elastomeric bristle-bot is realized in two prototype designs using magnetic actuation of either an external or an integrated source of an alternating magnetic field. The motion principle is based on cyclic interplay of asymmetric friction and inertia forces caused by field-induced bending vibrations of the elastomer. The locomotion behavior of both prototypes shows a strong resonant dependency of the advancing speed on the frequency of applied magnetic actuation.
... Among the magnetic swimming locomotion strategies, oscillating and rotational motion are the most common. Although, they rely on an external control of magnetic fields [3], which limit the autonomy of the microrobot. A promising alternative for untethered autonomous magnetic locomotion of microrobots is magnetohydrodynamics (MHD). ...
... However, they remain untested for many psychotherapy approaches, and their degree of effectiveness can be improved. One major strategy is to incorporate digitally delivered psychotherapy and integrated memory structure rationales with the advantages offered by minimally invasive smart neuroprosthetic technologies, such as (1) vagus nerve stimulation (VNS), (2) transcranial electrical stimulation (TES), (3) transcranial near-infrared stimulation (TIRS), (4) transcranial magnetic stimulation (TMS), and (5) emerging smart pharmaceuticals, such as microRNA-targeting mimics, antagomirs, and micro-/nanosized drug delivery, regenerative, and surgical platforms [27][28][29][30][31][32][33][34][35][36][37][38][39]. Many of these smart medical technologies are either already commercially available or undergoing reduction to practice for the control of mood, affect, and anxiety disorders that are currently resistant to conventional drug and/or psychotherapeutic techniques. ...
Escalating government and commercial efforts to plan and deploy viable manned near-to-deep solar system exploration and habitation over the coming decades now drives next-generation space medicine innovations. The application of cutting-edge precision medicine, such as brain stimulation techniques, provides powerful clinical and field/flight situation methods to selectively control vagal tone and neuroendocrine-modulated corticolimbic plasticity, which is affected by prolonged cosmic radiation exposure, social isolation or crowding, and weightlessness in constricted operational non-terran locales. Earth-based clinical research demonstrates that brain stimulation approaches may be combined with novel psychotherapeutic integrated memory structure rationales for the corrective reconsolidation of arousing or emotional experiences, autobiographical memories, semantic schema, and other cognitive structures to enhance neuropsychiatric patient outcomes. Such smart cotherapies or countermeasures, which exploit natural, pharmaceutical, and minimally invasive neuroprosthesis-driven nervous system activity, may optimize the cognitive-emotional restructuring of astronauts suffering from space-related neuropsychiatric disease and injury, including mood, affect, and anxiety symptoms of any potential severity and pathophysiology. An appreciation of improved neuropsychiatric healthcare through the merging of new or rediscovered smart theragnostic medical technologies, capable of rendering personalized neuroplasticity training and managed psychotherapeutic treatment protocols, will reveal deeper insights into the illness states experienced by astronauts. Future work in this area should emphasize the ethical role of telemedicine and/or digital clinicians to advance the (semi)autonomous, technology-assisted medical prophylaxis, diagnosis, treatment, monitoring, and compliance of astronauts for elevated health, safety, and performance in remote extreme space and extraterrestrial environments.
... Various locomotion modes has been developed for these types of robots such as Pulling/Pushing [7], Tumbling/Rolling [8], Helical Thrusting [9], Swimming [10], Crawling [11], Stick-Slipping [12], and Pivot Walking [13]. These locomotions can be carried out by rigid or soft mechanisms [14]. ...
An external magnetic field can be used to remotely control small-scaled robots, making them promising candidates for diverse biomedical and engineering applications. We showed that our magnetically actuated millirobot is highly agile and can perform a variety of locomotive tasks such as pivot walking and tumbling in a horizontal plane. Here, we focus on controlling the locomotion outcomes of this millirobot in the pivot walking mode. A mathematical model of the system is developed and the kinematic model is derived. The role of the sweep and tilt angles in the robot's motion is also investigated. We propose two controllers to regulate the gait of the pivot walker. The first one is a proportional-geometric controller, which determines the correct pivot point that the millirobot should use. Then, it regulates the angular velocity proportionally based on the error between the center of the millirobot and the reference trajectory. The second controller is based on a gradient descent optimization technique, which expresses the control action as an optimization problem. These control algorithms enable the millirobot to generate a stable gait while tracking the desired trajectory. We conduct a set of different experiments and simulation runs to establish the effectiveness of proposed controllers for different sweep and tilt angles in terms of the tracking error. The two controllers exhibit an appropriate performance, but it is observed that gradient descent based controller yields faster convergence time, smaller tracking error, and fewer number of steps. Finally, we perform an extensive experimentally parametric analysis on the effect of the sweep angle, tilt angle, and step time on the tracking error. As we expect, the optimization-based controller outperforms the geometric based controller.
... In contrast to the limited numbers of macroscale structures consisting of MSMs, there are a sizeable amount of prototypes out of magnetoactive polymers at the millimetre scale available in the literature, see [239][240][241][242]. In this section, some selected shape-morphing designs and applications, that have been proposed over the last decade, are discussed. ...
Magnetoactive soft materials (MSMs) are soft polymeric composites filled with magnetic particles that are an emerging class of smart and multifunctional materials with immense potentials to be used in var- ious applications including but not limited to artificial muscles, soft robotics, controlled drug delivery, minimally invasive surgery, and metamaterials. Advantages of MSMs include remote contactless actuation with multiple actuation modes, high actuation strain and strain rate, self-sensing, and fast response etc. Having broad functional behaviours offered by the magnetic fillers embedded within non-magnetic matrices, MSMs are undoubtedly one of the most promising materials in applications where shape- morphing, dynamic locomotion, and reconfigurable structures are highly required. This review article pro- vides a comprehensive picture of the MSMs focusing on the materials, manufacturing processes, programming and actuation techniques, behaviours, experimental characterisations, and device-related achievements with the current state-of-the-art and discusses future perspectives. Overall, this article not only provides a comprehensive overview of MSMs’ research and development but also functions as a systematic guideline towards the development of multifunctional, shape-morphing, and sophisticated magnetoactive devices.
... Compared to the rigid body miniature robots, the soft counterparts are shapeprogrammable, which increases degree of freedom and mobility of the robots. Crawling is one of the most common locomotion in the magnetic soft robots, which relies on magnetically controlled actuation and friction changes in the body of the robot [48]. Crawler soft robots may experience impact-driven force or stickslip motion in response to a magnetic actuation. ...
... Microrobots can navigate through different parts of the human body such as circulatory [57] and urinary [58]. These robots enable medical procedures such as laparoscopic surgery or steerable needles and catheters, to be less invasive [48]. In other words, untethered miniature medical robots can access sensitive and narrow regions of the human body to provide minimally invasive diagnosis and treatments. ...
... The other issue in the application of magnetic soft robots arises from this fact that they are mainly single or double simple tasks [48]. However biomedical applications require multi-task robots to perform perforating, suturing and deposition or removal of the objects among many others. ...
During past few years, applications of untethered magnetically controlled soft robots in the biomedical operations have been extensively reported, which is attributed to the efficient locomotion gaits, digital fabrication technologies and non-contact magnetic activation of these robots. Owing to compliance of these robots and hazardless nature of penetrating magnetic field in the living tissues of the human body, the magnetically actuated soft robots are promising tools to access delicate and narrow regions of the body and perform minimally invasive disease diagnosis and treatments. The present study aims to critically review the literature on the magnetically actuated milli, micro and nanoscale soft robots. The design, manufacturing, and in vivo and in vitro applications of the magnetic soft robots are reviewed comprehensively, and superiorities and limitations of the different designs are highlighted. The theoretical analyses along with the experimental studies reported in the literature are investigated. Applications of the permanent magnets and different types of electromagnets such as paired coils and distributed ones in providing force- and torque-driven actuations are studied. Also, the effects of strength and frequency of the applied magnetic field, materials and locomotion modes on the speed, deformation and performance of the soft robots are discussed. The healthcare-oriented applications of the magnetic soft robots such as delivery of the therapeutic payloads, cell manipulation, endoscopy and cardiovascular diseases treatments are reviewed. Finally, the challenges in the manufacturing and applications of the magnetically driven soft robots are highlighted. Since this study presents a critical review of the literature along with descriptive appendices including images, brief descriptions, and video references of the most relevant magnetically actuated soft robots and electromagnets, it can be regarded as a benchmark for the researchers who aim to conduct further research in this field.
... Nevertheless, literature states the importance of the context, since the environment introduces constraints in the device working conditions, and in the selection criteria consequently [21,23,24]. These constraints are even more critical for small scale systems, like mini-and micro-manipulators, where the reduced dimensions of the systems tend to emphasize the effect of some undesired phenomena, like potential geometric inaccuracies and their dangerous leverage effects [24][25][26][27]. ...
In the last decades, the Robot Selection Problem (RSP) has been widely investigated, and the importance of properly structuring the decision problem has been stated. Crucial aspect in this process is the correct identification of the robot attributes, which should be limited in number as much as possible, but should be also able to detect at best the peculiar requirements of specific applications. Literature describes several attributes examples, but mainly dedicated to traditional industrial tasks, and applied to the selection of conventional industrial robots. After a synthetic review of the robot attributes depicted in the RSP literature, presented with a custom taxonomy, this paper proposes a set of possible requirements for the selection problem of small scale parallel kinematic machines (PKMs). The RSP is based on a task-driven approach: two mini-manipulators are compared as equivalent linear actuators to be integrated within a more complex system, for the application in both an industrial and a biomedical environment. The set of identified criteria for the two environments is proposed in the results and investigated with respect to working conditions and context in the discussion, emphasizing limits and strength points of this approach; finally, the conclusions synthesizes the main results.
