Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies

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OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation (2010, methodology): “In prior work, we have generated accurate models for the fielddependent magnetic moment of axially symmetric bodies [34], which includes ellipsoids and spheres, as well as assembled-”
Magnetic Methods in Robotics (2020, background): “Ẏ = JY I{m,Pb, I}İ = ( MY {m} + [ ∂MY {m} ∂F (1) F · · · ∂MY {m} ∂F (8) F ])”
How Should Microrobots Swim? (2009, background): “We have verified in prior work that this assumption gives an accurate prediction of magnetic force and torque (Abbott et al. 20071 Nagy et al. 2008).”
Three-Dimensional Magnetic Manipulation of Micro- and Nanostructures for Applications in Life Sciences (2013, background): “The offset angle between and defines how much the body turns in order to align with the vector of the applied field [29].”
Microrobots for minimally invasive medicine. (2010, background): “, beads, ellipsoids, cylinders) (81) and for soft-magnetic bodies assembled from thin planar components (82).”