{"id":"https://openalex.org/W3207376892","doi":"https://doi.org/10.1109/icra48506.2021.9561357","title":"Tailored Magnetic Torsion Springs for Miniature Magnetic Robots","display_name":"Tailored Magnetic Torsion Springs for Miniature Magnetic Robots","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207376892","doi":"https://doi.org/10.1109/icra48506.2021.9561357","mag":"3207376892"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029671602","display_name":"Cameron Forbrigger","orcid":"https://orcid.org/0000-0002-6076-063X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Cameron Forbrigger","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023478344","display_name":"Adam Schonewille","orcid":"https://orcid.org/0000-0002-7446-0371"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Adam Schonewille","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021398654","display_name":"Eric Diller","orcid":"https://orcid.org/0000-0003-4627-0797"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Eric Diller","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8061,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.7193994,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"7182","last_page":"7188"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9965999722480774,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/torsion-spring","display_name":"Torsion spring","score":0.7996790409088135},{"id":"https://openalex.org/keywords/torsion","display_name":"Torsion (gastropod)","score":0.798819899559021},{"id":"https://openalex.org/keywords/bistability","display_name":"Bistability","score":0.677209734916687},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.6557462215423584},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6369330883026123},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6126815676689148},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5426117181777954},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5149293541908264},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.5103761553764343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4355434775352478},{"id":"https://openalex.org/keywords/millimeter","display_name":"Millimeter","score":0.41329607367515564},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.40617334842681885},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3769955635070801},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3736412525177002},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33312854170799255},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2860753536224365},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2568199634552002},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.25072768330574036},{"id":"https://openalex.org/keywords/optoelectronics","display_name":"Optoelectronics","score":0.11550197005271912},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08109641075134277},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.07739359140396118}],"concepts":[{"id":"https://openalex.org/C57614664","wikidata":"https://www.wikidata.org/wiki/Q27037480","display_name":"Torsion spring","level":2,"score":0.7996790409088135},{"id":"https://openalex.org/C77461463","wikidata":"https://www.wikidata.org/wiki/Q7827201","display_name":"Torsion (gastropod)","level":2,"score":0.798819899559021},{"id":"https://openalex.org/C97292510","wikidata":"https://www.wikidata.org/wiki/Q2304620","display_name":"Bistability","level":2,"score":0.677209734916687},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.6557462215423584},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6369330883026123},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6126815676689148},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5426117181777954},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5149293541908264},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.5103761553764343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4355434775352478},{"id":"https://openalex.org/C109792285","wikidata":"https://www.wikidata.org/wiki/Q174789","display_name":"Millimeter","level":2,"score":0.41329607367515564},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.40617334842681885},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3769955635070801},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3736412525177002},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33312854170799255},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2860753536224365},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2568199634552002},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.25072768330574036},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.11550197005271912},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08109641075134277},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.07739359140396118},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7699999809265137}],"awards":[],"funders":[{"id":"https://openalex.org/F4320308611","display_name":"Health Research","ror":"https://ror.org/059qgvg50"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1970166043","https://openalex.org/W1987722714","https://openalex.org/W2055573331","https://openalex.org/W2114725433","https://openalex.org/W2142621959","https://openalex.org/W2342390196","https://openalex.org/W2739167264","https://openalex.org/W2766408295","https://openalex.org/W2791721541","https://openalex.org/W2913653683","https://openalex.org/W2915924873","https://openalex.org/W2961593785","https://openalex.org/W2980790222","https://openalex.org/W2991840358","https://openalex.org/W3040860850","https://openalex.org/W6680820436"],"related_works":["https://openalex.org/W1968521411","https://openalex.org/W2386255425","https://openalex.org/W1520492402","https://openalex.org/W2366469220","https://openalex.org/W2024628765","https://openalex.org/W4235604659","https://openalex.org/W2972719527","https://openalex.org/W1985604153","https://openalex.org/W2000257464","https://openalex.org/W2333272871"],"abstract_inverted_index":{"Magnetic":[0,84],"torsion":[1,37,42,79],"springs":[2,43,122],"are":[3,13,23,44,123],"capable":[4],"of":[5,35,67],"producing":[6],"unique":[7],"and":[8,51,86,109,116],"useful":[9],"torque-displacement":[10],"responses":[11],"that":[12,49,60],"not":[14],"possible":[15],"with":[16],"elastic":[17],"springs.":[18,38,120],"Millimeter-scale":[19],"magnetically-actuated":[20,100],"robots,":[21],"which":[22],"gaining":[24],"increasing":[25],"interest":[26],"in":[27,64,98],"biomedical":[28],"applications,":[29],"would":[30],"benefit":[31],"from":[32],"the":[33,61,65],"use":[34],"magnetic":[36,41,131],"However,":[39],"existing":[40],"difficult":[45],"to":[46,77,113],"fabricate":[47],"at":[48],"scale":[50],"can":[52,73,92],"only":[53],"produce":[54,78],"sinusoid-like":[55],"responses.":[56],"Here":[57],"we":[58],"show":[59],"magnets":[62],"embedded":[63],"links":[66],"a":[68,126],"robot":[69,132],"for":[70],"actuation":[71],"purposes":[72],"also":[74],"be":[75],"leveraged":[76],"spring-like":[80],"behavior.":[81],"This":[82],"Simultaneous":[83],"Actuation":[85],"Restoring":[87],"Torque":[88],"(SMART)":[89],"spring":[90],"design":[91,114],"enable":[93],"switching":[94],"or":[95],"pop-up":[96],"behaviour":[97],"millimeter-scale":[99],"mechanisms.":[101],"A":[102],"novel":[103,127],"analytical":[104],"model,":[105],"validated":[106],"both":[107],"numerically":[108],"experimentally,":[110],"is":[111],"used":[112],"constant-stiffness":[115],"nonlinear":[117],"bistable":[118],"SMART":[119],"These":[121],"integrated":[124],"into":[125],"3.5":[128],"mm":[129],"diameter":[130],"manipulator.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}