@inproceedings{0c8036c5fa114a81b628511b323a2bb7,
title = "Wireless Actuation of Magnetic Robots with a Modular 60 mT 3-D Helmholtz Coil System",
abstract = "This paper presents the modeling and design of a three-dimensional (3-D) Helmholtz coil system for wireless control of magnetically actuated robots. Instead of using moving permanent magnets to generate the external magnetic field needed for magnetic actuation, driving a set of stationary Helmholtz coils with power electronics offers enhanced control flexibility and precision through active feedback. A modular drive is developed to operate the custom pulsed 15 kW 60 mT 3-D Helmholtz coil setup. A method for modeling the generated magnetic field is developed to enable the precise motion control of untethered robots. The prototype system is verified by precisely actuating a magnetized cubic robot.",
keywords = "3-D Helmholtz coil system, magnetically actuated robot, modular drive, wireless actuation",
author = "Konstantinos Manos and Yifan Rao and Tuo Zhao and Kevin Liu and Daniel Zhou and Calvin Nguyen and Eric Chen and Paulino, \{Glaucio H.\} and Minjie Chen",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 14th Annual IEEE Applied Power Electronics Conference and Exposition, APEC 2025 ; Conference date: 16-03-2025 Through 20-03-2025",
year = "2025",
doi = "10.1109/APEC48143.2025.10977109",
language = "English (US)",
series = "Conference Proceedings - IEEE Applied Power Electronics Conference and Exposition - APEC",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1274--1278",
booktitle = "APEC 2025 - 14th Annual IEEE Applied Power Electronics Conference and Exposition",
address = "United States",
}