DeltaMag: An electromagnetic manipulation system with parallel mobile coils

Lidong Yang, Xingzhou Du, Edwin Yu, Dongdong Jin, Li Zhang

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

45 Citations (Scopus)


In this paper, a novel magnetic manipulation system using mobile coils for remote actuation of magnetic untethered devices in an enlarged workspace is proposed and studied. A parallel mechanism is implemented to actuate the mobile coils. A proof-of-concept prototype is designed and constructed, namely the DeltaMag, which includes three electromagnetic coils for generating magnetic fields and three motors for actuation of the coils. It has good space utilization: ratio between the diameter of the workspace and the diameter of the whole prototype reaches 0.7.A calibrated mathematical model is developed for the field distribution of a single coil, which has an average error of 8.75%. Then, we introduce a calculation method for the 3D magnetic field at any working position for the configuration of multiple parallel mobile coils. Moreover, an embedded system is established for actuating the parallel mechanism, whose pose is fed back via serial communication for magnetic field computation. A vision based approach is developed for closed-loop control of the parallel mechanism. Furthermore, experiments demonstrate the capabilities of the DeltaMag for manipulation of a magnetic catheter mock-up and a magnetic capsule mock-up in a workspace with a diameter more than 200 mm.

Original languageEnglish
Title of host publication2019 International Conference on Robotics and Automation, ICRA 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9781538660263
Publication statusPublished - May 2019
Externally publishedYes
Event2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, Canada
Duration: 20 May 201924 May 2019

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


Conference2019 International Conference on Robotics and Automation, ICRA 2019

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


Dive into the research topics of 'DeltaMag: An electromagnetic manipulation system with parallel mobile coils'. Together they form a unique fingerprint.

Cite this