June 2021 - May 2022

Relevant Publication

• O. Erin*, S. Raval* T. Schwehr, W. Pryor, Y. Barnoy, A. Bell, X. Liu, L. Mair, I. Weinberg, A. Krieger, Y. Diaz-Mercado, “ Enhanced Accuracy in Magnetic Actuation: Closed-Loop Control of a Magnetic Agent With Low-Error Numerical Magnetic Model Estimation”, in IEEE Robotics and Automation Letters (RA-L), vol. 7, no. 4, pp. 9429-9436, 2022. [* Indicates equal contributors] [Paper]

Summary

This study has three main objectives. First, we aim to improve dipole model magnetic field estimation accuracy by developing a finite element analysis (FEA) based magnetic field estimation approach. Second, we aim to integrate the FEA-based magnetic field estimation by creating a look-up table for real-time closed-loop control. Lastly, we compare the autonomous control performance between the algorithms integrated with two different magnetic field estimation approaches. The presented FEA-based magnetic field estimation would be beneficial for any magnetic actuation system to improve the experimental control performance, which could lead to more accurate force and torque exertion, possibly enhancing the safety and sensitivity of magnetic surgical systems.