@inproceedings{7bd6f0014d1a40f180223589bba0472c,
title = "Simultaneous Actuation and Localization of Magnetic Robots Using Mobile Coils and Eye-In-Hand Hall-Effect Sensors",
abstract = "Large workspace localization of magnetic robots is important for medical applications. This paper presents a novel localization strategy to achieve simultaneous localization and actuation of magnetic robots using hall-effect sensors. We integrate 25 sensors into a sensing probe and mount it on to the mobile-coil system, which realizes accurate sensing and actuation of magnetic devices within a cylindrical workspace of φ500 mm×150 mm. Simulation results show the average localization error using the proposed method is 1.7 mm. A verification experiment is conducted to prove the design advantages; Another two experiments are conducted to demonstrate the simultaneous actuation and localization of a torque-driven robot and a force-driven floating robot respectively. For the force-driven floating robot, the average variation between the localization results and the desired trajectory is less than 2 mm.",
keywords = "Location awareness, Magnetic sensors, Simulation, Magnetic devices, Medical services, Robot sensing systems, Sensor systems",
author = "Moqiu Zhang and Lidong Yang and Chong Zhang and Zhengxin Yang and Li Zhang",
note = "Funding Information: This work was supported by the Hong Kong RGC project JLFS/E-402/18, the ITF project with Project No. MRP/036/18X, the Croucher Foundation Grant with Ref. No. CAS20403 and the CUHK internal grants. We thank the support from Multi-scale Medical Robotics Center (MRC), InnoHK at the Hong Kong Science Park, and the SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems. L.Z. would also like to thank the funding support from Peter Hung Pain Research Institute (PHPRI Project #8423004) at CUHK. (Corresponding author: Li Zhang) 1Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong (CUHK), Shatin NT, Hong Kong, China. Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 ; Conference date: 27-09-2021 Through 01-10-2021",
year = "2021",
month = sep,
doi = "10.1109/IROS51168.2021.9635953",
language = "English",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "8515--8521",
booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021",
}