Ko, Yeongoh (Chonnam National University), Kim, Chang-Sei (Chonnam National University)

A Robotic Electromagnetic Actuation System with Magnetic Field Redundancy and Expanded Workspace

Scheduled for presentation during the Regular Session "Surgical Robots" (WeAT4), Wednesday, July 16, 2025, 11:20−11:40, Room 108

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

Magnetically driven small-sized robots are being widely studied for the purpose of clinical applications. Wherein, the magnetic actuation is considered as a particularly promising mechatronics technology for a minimally invasive approach. However, conventional magnetic actuation systems have limitations such as actuator dependency, large system size, and fixed workspaces. To overcome this, we present a robotic electromagnetic actuation (EMA) system in this study. The proposed system enables coil mobility and workspace expansion by integrating electromagnet coils with a robotic arm. The electromagnet coil was designed to form a magnetic field in any direction without requiring the motion of the robotic arm. Additionally, the magnetic field and gradient characteristics of the electromagnet coils were analyzed through simulations. Experiments on the translation and rotation of the magnetic capsule validate the workspace expansion capabilities and control performance of the Robotic EMA system.