{"id":"https://openalex.org/W7154628666","doi":"https://doi.org/10.1109/tase.2026.3684317","title":"Impedance Regulation-Based 3-D Selective Manipulation of Collective Microrobots","display_name":"Impedance Regulation-Based 3-D Selective Manipulation of Collective Microrobots","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7154628666","doi":"https://doi.org/10.1109/tase.2026.3684317"},"language":null,"primary_location":{"id":"doi:10.1109/tase.2026.3684317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3684317","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-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":null,"display_name":"Haoyu Zhang","orcid":"https://orcid.org/0009-0009-2174-6972"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haoyu Zhang","raw_affiliation_strings":["Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0009-2174-6972","affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003990051","display_name":"Xuanyu An","orcid":"https://orcid.org/0009-0003-1674-3087"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanyu An","raw_affiliation_strings":["Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133772758","display_name":"Ying Cao","orcid":"https://orcid.org/0009-0003-2651-5854"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Cao","raw_affiliation_strings":["Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0003-2651-5854","affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047125302","display_name":"Shengming Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengming Luo","raw_affiliation_strings":["Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063086490","display_name":"Zhaoxin Lao","orcid":"https://orcid.org/0000-0002-7673-0590"},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoxin Lao","raw_affiliation_strings":["School of Instrument Science and Opto-Electronics Engineering, Hefei University of Technology, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-7673-0590","affiliations":[{"raw_affiliation_string":"School of Instrument Science and Opto-Electronics Engineering, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5133801630","display_name":"Ji Lang","orcid":null},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ji Lang","raw_affiliation_strings":["Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-8886-1766","affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100417691","display_name":"Qianqian Wang","orcid":"https://orcid.org/0000-0001-8011-171X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qianqian Wang","raw_affiliation_strings":["Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, School of Mechanical Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0001-8011-171X","affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory for Design and Manufacturing of Precision Medicine Equipment, School of Mechanical Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76569877"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.86361106,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"23","issue":null,"first_page":"8348","last_page":"8361"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":0.8973000049591064,"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":0.8973000049591064,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.053199999034404755,"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"}},{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.007199999876320362,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5871999859809875},{"id":"https://openalex.org/keywords/focused-impedance-measurement","display_name":"Focused Impedance Measurement","score":0.44209998846054077},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.3456000089645386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3303000032901764},{"id":"https://openalex.org/keywords/impedance-parameters","display_name":"Impedance parameters","score":0.328000009059906},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.31779998540878296}],"concepts":[{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5871999859809875},{"id":"https://openalex.org/C172066009","wikidata":"https://www.wikidata.org/wiki/Q5463955","display_name":"Focused Impedance Measurement","level":3,"score":0.44209998846054077},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42649999260902405},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4025999903678894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3939000070095062},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.3720000088214874},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.35659998655319214},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.3456000089645386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3303000032901764},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.33000001311302185},{"id":"https://openalex.org/C113805353","wikidata":"https://www.wikidata.org/wiki/Q13424600","display_name":"Impedance parameters","level":3,"score":0.328000009059906},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.3271999955177307},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.31779998540878296},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.30799999833106995},{"id":"https://openalex.org/C104267543","wikidata":"https://www.wikidata.org/wiki/Q208163","display_name":"Signal processing","level":3,"score":0.3005000054836273},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.27489998936653137},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2669000029563904},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.25769999623298645},{"id":"https://openalex.org/C2989121073","wikidata":"https://www.wikidata.org/wiki/Q1309019","display_name":"Transient analysis","level":3,"score":0.2567000091075897}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tase.2026.3684317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tase.2026.3684317","pdf_url":null,"source":{"id":"https://openalex.org/S34881539","display_name":"IEEE Transactions on Automation Science and Engineering","issn_l":"1545-5955","issn":["1545-5955","1558-3783"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automation Science and Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3869017601","display_name":null,"funder_award_id":"52175396","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4597313777","display_name":null,"funder_award_id":"2024-O04","funder_id":"https://openalex.org/F4320327001","funder_display_name":"State Key Laboratory of Robotics and System"},{"id":"https://openalex.org/G5214016557","display_name":null,"funder_award_id":"52205590","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5255035194","display_name":null,"funder_award_id":"52575652","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5645371845","display_name":null,"funder_award_id":"12572345","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327001","display_name":"State Key Laboratory of Robotics and System","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Magnetic":[0],"actuation":[1],"is":[2,64],"a":[3,31,36,124],"promising":[4],"approach":[5,139],"in":[6,123,128],"the":[7,90,96,113],"robotic":[8],"manipulation":[9,13,21,47,119],"field,":[10],"enabling":[11,145],"wireless":[12],"for":[14,150],"small-scale":[15],"operations.":[16],"However,":[17],"selective":[18,118,147],"three-dimensional":[19],"(3D)":[20],"of":[22,48,69,95],"multiple":[23],"magnetic":[24,28,38,49,110,141],"microrobots":[25,77,97],"under":[26],"global":[27],"fields":[29],"remains":[30],"challenge.":[32],"This":[33],"paper":[34],"presents":[35],"dynamic":[37],"modeling":[39],"and":[40,55,72,108,120,133],"vision-guided":[41],"control":[42,62,86,143],"strategy":[43,87,116],"to":[44,75],"realize":[45],"3D":[46,125],"microrobots,":[50,114],"including":[51],"patch-robot-assisted":[52,129],"collective":[53,121,131],"delivery":[54],"microrobot":[56,142],"screening.":[57],"An":[58],"impedance":[59],"regulation-based":[60],"position":[61],"method":[63],"proposed,":[65],"leveraging":[66],"theoretical":[67],"analysis":[68],"electromagnetic":[70],"forces":[71],"fluid":[73],"drag":[74],"accommodate":[76],"with":[78],"diverse":[79],"morphologies.":[80],"Through":[81],"trajectory":[82],"motion":[83],"experiments,":[84],"our":[85],"ensures":[88],"that":[89],"mean":[91],"absolute":[92],"errors":[93],"(MAE)":[94],"are":[98,135],"consistently":[99],"below":[100],"200":[101],"\u03bcm.":[102],"By":[103],"utilizing":[104],"patch":[105],"robot":[106],"adhesion":[107],"differential":[109],"responses":[111],"among":[112],"this":[115],"enables":[117],"sorting":[122,132],"space.":[126],"Applications":[127],"delivery,":[130],"screening":[134],"validated.":[136],"The":[137],"proposed":[138],"advances":[140],"by":[144],"spatially":[146],"operations":[148],"critical":[149],"biomedical":[151],"tasks.":[152]},"counts_by_year":[],"updated_date":"2026-04-29T09:16:38.111599","created_date":"2026-04-17T00:00:00"}
