Fig. 1
From: SCMAS: an IMU-based 6-DOF closed-loop permanent magnet actuation system for magnet agent
Overview of Semi-open Closed-loop Magnetic Actuation System (SCMAS) developed in this study. (A) Application on permanent magnet capsule robot: ideal orientation control and continuous point-to-point control. (B) SCMAS is composed of a “magnetic sphere” driven by three omni-directional wheels. (C) Exploded view of the magnetic sphere: embedded with a cylindrical permanent magnet and a BLE-IMU sensor module. (D) Application on capsule drug delivery robot: 2D navigation and targeted drug delivery.
