Design and control of a microrobotic system using magnetic levitation

By Mir Behrad Khamesee, N. Kato, Y. Nomura, T. Nakamura. 2002

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Magnetic Methods in Robotics (2020, background): “If the goal of the design is to achieve the maximum magnetic field and/or gradient in a small space, then all of the flux from the generating magnets should be focused into the workspace using a soft-magnetic yoke that forms a closed magnetic circuit with a small gap, which is the workspace (57, 58)”
Modeling and Control of Untethered Biomicrorobots in a Fluidic Environment Using Electromagnetic Fields (2006, background): “Remote magnetic propulsion can be achieved with DC magnetic fields and gradients that produce translational forces on the device (Khamesee et al. 2002; Mathieu et al. 2003; Martel et al. 2004).”
OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation (2010, background): “have created electromagnetic systems for 3-DOF manipulation of small magnetic particles in fluid under a microscope [28], [29], and others have demonstrated 3-DOF manipulation of a microrobot levitated in air [30].”
Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies (2007, background): “These untethered devices could navigate bodily fluids for minimally invasive surgical and diagnostic procedures [2]–[5], or could be used as the end-effectors of micromanipulation systems [6], [7].”