NDLI: Experimental investigation of magnetic self-assembly for swallowable modular robots

Content Provider	IEEE Xplore Digital Library
Author	Nagy, Z. Oung, R. Abbott, J.J. Nelson, B.J.
Copyright Year	2008
Description	Author affiliation: Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich (Nagy, Z.; Oung, R.; Abbott, J.J.; Nelson, B.J.)
Abstract	There is a clear trend toward the miniaturization of medical devices for minimally invasive medical procedures, ranging from diagnosis and targeted drug delivery to complex surgical interventions. Current research focuses on increasing the functionality of commercially successful capsule endoscope technology by developing active locomotion and telemetry. The size of such a capsule must not be larger than what a person can swallow without difficulty. One approach to increase functionality while still working within this size constraint is to build a modular robotic system in which the modules are swallowed one at a time, and the final assembly is performed inside the gastrointestinal (GI) tract. This paper addresses a fundamental challenge that must be be met for the success of such swallowable modular robots-their self-assembly. We propose to use magnets in a specific configuration on the mating faces of the modules. Our results show that high success rates can be achieved and snake-type robots can be self-assembled with compliant magnetic joints allowing them to adapt to highly irregular paths, such as the small intestine.
Starting Page	1915
Ending Page	1920
File Size	1134117
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650662
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Magnetic separation Force Torque Stomach Assembly Multi-stage noise shaping
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Experimental Investigation of Magnetic Self-Assembly for Swallowable Modular Robots

On contact models for assembly tasks: Experimental investigation beyond the peg-in-hole problem on the example of force-torque maps

Analytical and experimental investigation on the force and torque of a Reaction Sphere for satellite attitude control

HiGen: A high-speed genderless mechanical connection mechanism with single-sided disconnect for self-reconfigurable modular robots

Morphology detection for magnetically self-assembled modular robots

Self-Assembly and Self-Repair during Motion with Modular Robots

A novel unsupervised competitive learning rule with learning rate adaptation for noise cancelling and signal separation

The distributed control and experiments of directional self-assembly for modular swarm robots

A multi-axis MEMS force-torque sensor for measuring the load on a microrobot actuated by magnetic fields

Experimental investigation of magnetic self-assembly for swallowable modular robots

Similar Documents

Experimental Investigation of Magnetic Self-Assembly for Swallowable Modular Robots

On contact models for assembly tasks: Experimental investigation beyond the peg-in-hole problem on the example of force-torque maps

Analytical and experimental investigation on the force and torque of a Reaction Sphere for satellite attitude control

HiGen: A high-speed genderless mechanical connection mechanism with single-sided disconnect for self-reconfigurable modular robots

Morphology detection for magnetically self-assembled modular robots

Self-Assembly and Self-Repair during Motion with Modular Robots

A novel unsupervised competitive learning rule with learning rate adaptation for noise cancelling and signal separation

The distributed control and experiments of directional self-assembly for modular swarm robots

A multi-axis MEMS force-torque sensor for measuring the load on a microrobot actuated by magnetic fields

Experimental investigation of magnetic self-assembly for swallowable modular robots