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| Natura: | Preprint |
| Pubblicazione: |
2026
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| Accesso online: | https://arxiv.org/abs/2603.14396 |
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| _version_ | 1866908887719870464 |
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| author | Lin, Jialin Zhang, Dandan |
| author_facet | Lin, Jialin Zhang, Dandan |
| contents | Despite the promise of magnetically actuated miniature helical robots for minimally invasive interventions, state-of-the-art electromagnetic actuation systems are often space-inefficient and geometrically fixed. These constraints hinder clinical translation and, moreover, prevent task-adaptive trade-offs among workspace coverage, energy distribution, and field/gradient capability. We present DexterousMag, a robot-arm-assisted three-coil electromagnetic actuation system that enables continuous geometric reconfiguration of a compact coil group, thereby redistributing magnetic-field and gradient capability for task-adaptive operation. The reconfiguration is realized by a parallel mechanism that exposes a single geometric DOF of the coil group, conveniently parameterized by the polar angle. Using an FEM-based modeling pipeline, we precompute actuation and gradient libraries and quantify the resulting trade-offs under current limits: configurations that favor depth reach expand the feasible region but reduce peak field/gradient, whereas configurations that favor near-surface capability concentrate stronger fields/gradients and support lifting. We validate these trade-offs on representative tasks (deep translation, planar tracking, and 3D lifting) and further demonstrate a proof-of-concept online geometry scheduling scheme for combined tasks, benchmarked against fixed-geometry settings. Overall, DexterousMag establishes continuous geometric reconfiguration as an operational mechanism for enlarging the practical envelope of miniature helical robot actuation while improving energy efficiency and safety. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_14396 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | DexterousMag: A Reconfigurable Electromagnetic Actuation System for Miniature Helical Robot Lin, Jialin Zhang, Dandan Systems and Control Despite the promise of magnetically actuated miniature helical robots for minimally invasive interventions, state-of-the-art electromagnetic actuation systems are often space-inefficient and geometrically fixed. These constraints hinder clinical translation and, moreover, prevent task-adaptive trade-offs among workspace coverage, energy distribution, and field/gradient capability. We present DexterousMag, a robot-arm-assisted three-coil electromagnetic actuation system that enables continuous geometric reconfiguration of a compact coil group, thereby redistributing magnetic-field and gradient capability for task-adaptive operation. The reconfiguration is realized by a parallel mechanism that exposes a single geometric DOF of the coil group, conveniently parameterized by the polar angle. Using an FEM-based modeling pipeline, we precompute actuation and gradient libraries and quantify the resulting trade-offs under current limits: configurations that favor depth reach expand the feasible region but reduce peak field/gradient, whereas configurations that favor near-surface capability concentrate stronger fields/gradients and support lifting. We validate these trade-offs on representative tasks (deep translation, planar tracking, and 3D lifting) and further demonstrate a proof-of-concept online geometry scheduling scheme for combined tasks, benchmarked against fixed-geometry settings. Overall, DexterousMag establishes continuous geometric reconfiguration as an operational mechanism for enlarging the practical envelope of miniature helical robot actuation while improving energy efficiency and safety. |
| title | DexterousMag: A Reconfigurable Electromagnetic Actuation System for Miniature Helical Robot |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.14396 |