Autonomous locomotion of a miniature, untethered origami robot using hall effect sensor-based magnetic localization

Autonomous control of magnetically-actuated miniature robots enables greater versatility and complexity in function but has so far been a challenge to implement. In this paper, we present closed-loop position feedback control of a miniature origami robot utilizing its integrated magnet and an array of Hall effect sensors, enabling the robot's actuation, detection, and locomotion to be initiated from outside its body. An array of 33 Hall effect sensors arranged in repeated triangles cover a range of 60 mm by 75 mm, enabling position detection of the robot with average error of 0.995±0.520 mm. The robot's speed response to applied magnetic field was characterized, and a controller was designed to actuate the robot dependably. We demonstrate autonomous movement of the robot along preplanned paths and the viability of magnetic detection and actuation.

[1]  Zhenglong Sun,et al.  Modular design of a real-time passive magnetic localization system for enhanced safety in nasogastric intubation , 2016, 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob).

[2]  Daniela Rus,et al.  Ingestible, controllable, and degradable origami robot for patching stomach wounds , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[3]  M. Meng,et al.  An improved magnetic localization and orientation algorithm for wireless capsule endoscope , 2008, 2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[4]  Metin Sitti,et al.  A 5-D Localization Method for a Magnetically Manipulated Untethered Robot Using a 2-D Array of Hall-Effect Sensors , 2016, IEEE/ASME Transactions on Mechatronics.

[5]  Koichi Yamazaki,et al.  Real-time monitoring of a digestive tract marker to reduce adverse effects of moving organs at risk (OAR) in radiotherapy for thoracic and abdominal tumors. , 2004, International journal of radiation oncology, biology, physics.

[6]  Daniela Rus,et al.  An untethered miniature origami robot that self-folds, walks, swims, and degrades , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[7]  Max Q.-H. Meng,et al.  Efficient magnetic localization and orientation technique for capsule endoscopy , 2005, IROS.

[8]  Maysam Ghovanloo,et al.  Towards a magnetic localization system for 3-D tracking of tongue movements in speech-language therapy , 2009, 2009 Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[9]  Pietro Valdastri,et al.  Jacobian-Based Iterative Method for Magnetic Localization in Robotic Capsule Endoscopy , 2016, IEEE Transactions on Robotics.

[10]  Kevin Claycomb.  Using Magnetic Sensors for Absolute Position Detection and Feedback. , 2005 .

[11]  S. Souza,et al.  Real‐time position monitoring of invasive devices using magnetic resonance , 1993, Magnetic resonance in medicine.

[12]  Paolo Dario,et al.  Robotic magnetic steering and locomotion of capsule endoscope for diagnostic and surgical endoluminal procedures , 2009, Robotica.

[13]  Eko Supriyanto,et al.  Position Tracking Systems for Ultrasound Imaging: A Survey , 2015 .

[14]  Baris Fidan,et al.  Adaptive magnetic sensing based wireless capsule localization , 2016, 2016 10th International Symposium on Medical Information and Communication Technology (ISMICT).

[15]  Kristin L. Wood,et al.  Design Optimization of a Magnetic Field-Based Localization Device for Enhanced Ventriculostomy , 2016 .

[16]  Syed Mahfuzul Aziz,et al.  A Real-Time Localization System for an Endoscopic Capsule Using Magnetic Sensors , 2014, 2014 IEEE Ninth International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP).

[17]  John E. Mitchell,et al.  Indoor Location Using Trilateration Characteristics , 2005 .