{"id":"https://openalex.org/W2094904022","doi":"https://doi.org/10.1109/tro.2010.2073030","title":"OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation","display_name":"OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation","publication_year":2010,"publication_date":"2010-10-08","ids":{"openalex":"https://openalex.org/W2094904022","doi":"https://doi.org/10.1109/tro.2010.2073030","mag":"2094904022"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2010.2073030","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2073030","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/161287","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045482824","display_name":"Michael P. Kummer","orcid":"https://orcid.org/0000-0002-5661-7208"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Michael P. Kummer","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETH Z\u00fcrich, Zurich, Switzerland","Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich, Switzerland#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich, Switzerland#TAB#","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063340394","display_name":"Jake J. Abbott","orcid":"https://orcid.org/0000-0002-0665-1934"},"institutions":[{"id":"https://openalex.org/I223532165","display_name":"University of Utah","ror":"https://ror.org/03r0ha626","country_code":"US","type":"education","lineage":["https://openalex.org/I223532165"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jake J. Abbott","raw_affiliation_strings":["Department of Mechanical Engineering, University of Utah, Salt Lake, UT, USA","Dept. of Mech. Eng., Univ. of Utah, Salt Lake City, UT, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Utah, Salt Lake, UT, USA","institution_ids":["https://openalex.org/I223532165"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Univ. of Utah, Salt Lake City, UT, USA","institution_ids":["https://openalex.org/I223532165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032339698","display_name":"Bradley E. Kratochvil","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Bradley E. Kratochvil","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETH Z\u00fcrich, Zurich, Switzerland","Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich, Switzerland#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich, Switzerland#TAB#","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046749273","display_name":"Ruedi Borer","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Ruedi Borer","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETH Z\u00fcrich, Zurich, Switzerland","Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich, Switzerland#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich, Switzerland#TAB#","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111896048","display_name":"Ali Seng\u00fcl","orcid":null},"institutions":[{"id":"https://openalex.org/I29607241","display_name":"\u00c9cole Normale Sup\u00e9rieure - PSL","ror":"https://ror.org/05a0dhs15","country_code":"FR","type":"other","lineage":["https://openalex.org/I2746051580","https://openalex.org/I29607241"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","FR"],"is_corresponding":false,"raw_author_name":"Ali Sengul","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETH Z\u00fcrich, Zurich, Switzerland","Lab. de Syst. Robotiques, Ecole Polytech. Fed. de Lausanne, Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Lab. de Syst. Robotiques, Ecole Polytech. Fed. de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I29607241"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006427311","display_name":"Bradley J. Nelson","orcid":"https://orcid.org/0000-0001-9070-6987"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Bradley J. Nelson","raw_affiliation_strings":["Institute of Robotics and Intelligent Systems, ETH Z\u00fcrich, Zurich, Switzerland","Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich, Switzerland#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Intelligent Systems, ETH Z\u00fcrich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Inst. of Robot. & Intell. Syst., ETH Zurich, Zurich, Switzerland#TAB#","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":29.7971,"has_fulltext":false,"cited_by_count":1135,"citation_normalized_percentile":{"value":0.99883946,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"26","issue":"6","first_page":"1006","last_page":"1017"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11486","display_name":"Micro and Nano Robotics","score":1.0,"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":1.0,"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":0.9979000091552734,"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":0.9966999888420105,"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/electromagnet","display_name":"Electromagnet","score":0.6855698823928833},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.6471179723739624},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6001102924346924},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.4995696544647217},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4901605546474457},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.4349888265132904},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42767611145973206},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3577594757080078},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.342735230922699},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3276710510253906},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32718950510025024},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2935061454772949},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.23651468753814697},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.2244863212108612},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20405718684196472},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12028604745864868},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.10127341747283936}],"concepts":[{"id":"https://openalex.org/C106997767","wikidata":"https://www.wikidata.org/wiki/Q178032","display_name":"Electromagnet","level":3,"score":0.6855698823928833},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.6471179723739624},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6001102924346924},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.4995696544647217},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4901605546474457},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.4349888265132904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42767611145973206},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3577594757080078},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.342735230922699},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3276710510253906},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32718950510025024},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2935061454772949},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.23651468753814697},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.2244863212108612},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20405718684196472},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12028604745864868},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.10127341747283936},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2010.2073030","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2073030","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.713.1627","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.713.1627","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.telerobotics.utah.edu/uploads/Main/Kummer_ICRA10.pdf","raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:161287","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/161287","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:161287","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/161287","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320318017","display_name":"Inselspital, Universit\u00e4tsspital Bern","ror":"https://ror.org/01q9sj412"},{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W124560532","https://openalex.org/W391578156","https://openalex.org/W645502810","https://openalex.org/W1498627683","https://openalex.org/W1774660774","https://openalex.org/W1964145948","https://openalex.org/W1971724638","https://openalex.org/W1978158070","https://openalex.org/W1990416424","https://openalex.org/W2000731220","https://openalex.org/W2004759752","https://openalex.org/W2007333437","https://openalex.org/W2007379705","https://openalex.org/W2009010491","https://openalex.org/W2017696181","https://openalex.org/W2025562104","https://openalex.org/W2037424018","https://openalex.org/W2049220874","https://openalex.org/W2066381236","https://openalex.org/W2072206218","https://openalex.org/W2095968026","https://openalex.org/W2098408745","https://openalex.org/W2100157059","https://openalex.org/W2100932843","https://openalex.org/W2101099747","https://openalex.org/W2109634453","https://openalex.org/W2113984044","https://openalex.org/W2116813238","https://openalex.org/W2118291388","https://openalex.org/W2127181814","https://openalex.org/W2136027352","https://openalex.org/W2136290525","https://openalex.org/W2142067324","https://openalex.org/W2143655183","https://openalex.org/W2145479835","https://openalex.org/W2153752636","https://openalex.org/W2157760711","https://openalex.org/W2161381314","https://openalex.org/W2163220050","https://openalex.org/W2163252428","https://openalex.org/W2170714800","https://openalex.org/W2296280963","https://openalex.org/W2610857016","https://openalex.org/W3149800622","https://openalex.org/W4235279454","https://openalex.org/W4298291596","https://openalex.org/W6605120561","https://openalex.org/W6682623553"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2369529107","https://openalex.org/W1989224798","https://openalex.org/W2122164124","https://openalex.org/W2738959291","https://openalex.org/W2043154226","https://openalex.org/W2168520748","https://openalex.org/W2378174708","https://openalex.org/W2244279624"],"abstract_inverted_index":{"We":[0,34],"demonstrate":[1],"five-degree-of-freedom":[2],"(5-DOF)":[3],"wireless":[4,39],"magnetic":[5,60],"control":[6,40,85],"of":[7,38,57,68,73],"a":[8,23,65],"fully":[9],"untethered":[10],"microrobot":[11,19],"(3-DOF":[12],"position":[13],"and":[14,26],"2-DOF":[15],"pointing":[16],"orientation).":[17],"The":[18],"can":[20],"move":[21],"through":[22],"large":[24],"workspace":[25],"is":[27],"completely":[28],"unrestrained":[29],"in":[30,78,98],"the":[31,69],"rotation":[32],"DOF.":[33],"accomplish":[35],"this":[36],"level":[37],"with":[41],"an":[42,105],"electromagnetic":[43],"system":[44],"that":[45],"we":[46],"call":[47],"OctoMag.":[48],"OctoMag's":[49],"unique":[50],"abilities":[51],"are":[52],"due":[53],"to":[54,84],"its":[55],"utilization":[56],"complex":[58],"nonuniform":[59],"fields,":[61],"which":[62],"capitalizes":[63],"on":[64],"linear":[66],"representation":[67],"coupled":[70],"field":[71],"contributions":[72],"multiple":[74],"soft-magnetic-core":[75],"electromagnets":[76],"acting":[77],"concert.":[79],"OctoMag":[80],"was":[81],"primarily":[82],"designed":[83],"intraocular":[86],"microrobots":[87],"for":[88],"delicate":[89],"retinal":[90],"procedures,":[91],"but":[92],"it":[93],"also":[94],"has":[95],"potential":[96],"uses":[97],"other":[99],"medical":[100],"applications":[101],"or":[102],"micromanipulation":[103],"under":[104],"optical":[106],"microscope.":[107]},"counts_by_year":[{"year":2026,"cited_by_count":17},{"year":2025,"cited_by_count":81},{"year":2024,"cited_by_count":116},{"year":2023,"cited_by_count":98},{"year":2022,"cited_by_count":102},{"year":2021,"cited_by_count":88},{"year":2020,"cited_by_count":111},{"year":2019,"cited_by_count":92},{"year":2018,"cited_by_count":62},{"year":2017,"cited_by_count":73},{"year":2016,"cited_by_count":68},{"year":2015,"cited_by_count":61},{"year":2014,"cited_by_count":62},{"year":2013,"cited_by_count":51},{"year":2012,"cited_by_count":37}],"updated_date":"2026-06-24T13:16:06.693445","created_date":"2025-10-10T00:00:00"}
