Wireless motion control of paramagnetic microparticles using a magnetic-based robotic system with an open-configuration

Islam S M Khalil, Bishoy E. Wissa, Bola G. Salama, Stefano Stramigioli

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    3 Citations (Scopus)

    Abstract

    In this work, motion control of paramagnetic microparticles is achieved using a magnetic system with an open-configuration. This control is done using a permanent magnet and an electromagnetic coil under microscopic guidance. The permanent magnet and the electromagnetic coils are fixed to the end-effector of a robotic arm with 4 degrees-of-freedom to control the motion of the microparticles in three-dimensional (3D) space. A closed-loop control of the robotic arm is done at the joint-space to orient the magnetic field gradients of the permanent magnet and the electromagnetic coil towards a reference point in 3D space. Point-to-point motion control is achieved at an average speed of 117 ϵm/s using the permanent magnet and the robotic arm, whereas the electromagnetic coil and the robotic arm achieve average speed of 46 ϵm/s. In addition, the permanent magnet and the robotic arm achieves maximum position error of 600 ϵm, in the steady-state, as opposed to 100 ϵm for the electromagnetic coil and the robotic arm. We also demonstrate experimentally that our control system moves the microparticles towards a reference position in the presence of a constrain on the motion of the end-effector. The precise motion control of paramagnetic microparticles using a magnetic system with open-configuration provides broad possibilities in targeted therapy and biomedical applications that cannot be achieved using magnetic systems with closed-configurations.

    Original languageEnglish
    Title of host publication5th International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2015 - Conference Proceedings
    PublisherIEEE
    Pages190-196
    Number of pages7
    ISBN (Electronic)9781467396257
    DOIs
    Publication statusPublished - 3 Mar 2016
    Event5th International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2015 - Changchun, China
    Duration: 5 Oct 20159 Oct 2015
    Conference number: 5
    http://3m-nano.org/2015/main/index.asp

    Conference

    Conference5th International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, 3M-NANO 2015
    Abbreviated title3M-NANO 2015
    CountryChina
    CityChangchun
    Period5/10/159/10/15
    Internet address

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