Six-degree-of-freedom Localization Under Multiple Permanent Magnets Actuation

Localisation for magnetically actuated robots is essential for their accurate control and delivery of functionality. With the advent of new magnetic actuation platforms based on multiple external permanent magnets for actuation of complex continuum robots, new localisation techniques that account for these additional sources of magnetic fields are needed. In this work, we introduce a […]

Actuated Coiling Soft Robot with Variable Stiffness

Soft, flexible robots, fabricated using magnetically-active elastomers, are capable of very large deformations, and are actuated at distance thus allowing for extremely small scale. This combination of properties is understandably appealing to the minimally invasive surgical community but, due to the soft materials and low actuating forces involved, one prominent challenge is the functionalization of […]

Closed Loop Static Control of Multi-Magnet Soft Continuum Robots

In this collaborative paper with Prof Simaan’s group at Vanderbilt University, we explore for the first time how to implement full-shape closed loop control of a magnetic tentacle robot using fiber Bragg grating sensors. We demonstrate that the proposed controller, running at approximately 300 Hz, is capable of shape tracking with a mean error of […]

A Framework for Simulation of Magnetic Soft Robots using the Material Point Method

In this work, we developed a simulation framework for magnetic soft robots using the Material Point Method (MPM). This framework can accurately model robot behaviour under external magnetic fields, including the complexities of material elasticity and magnetic wrench.  The framework can accurately model the self-collision of robots and dynamic response under time-varying fields.  We validate this […]