{"id":"https://openalex.org/W3083187437","doi":"https://doi.org/10.1109/tro.2020.3016511","title":"Design of Multi-Degrees-of-Freedom Microrobots Driven by Homogeneous Quasi-Static Magnetic Fields","display_name":"Design of Multi-Degrees-of-Freedom Microrobots Driven by Homogeneous Quasi-Static Magnetic Fields","publication_year":2020,"publication_date":"2020-09-03","ids":{"openalex":"https://openalex.org/W3083187437","doi":"https://doi.org/10.1109/tro.2020.3016511","mag":"3083187437"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2020.3016511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.3016511","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069731508","display_name":"Sajad Salmanipour","orcid":"https://orcid.org/0000-0003-1385-9968"},"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":"Sajad Salmanipour","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0003-1385-9968","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024716443","display_name":"Omid Youssefi","orcid":"https://orcid.org/0000-0002-4169-3013"},"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":"Omid Youssefi","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0002-4169-3013","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada","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 D. Diller","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada"],"raw_orcid":"https://orcid.org/0000-0003-4627-0797","affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, ON, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I185261750"],"apc_list":null,"apc_paid":null,"fwci":2.292,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.88497397,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"37","issue":"1","first_page":"246","last_page":"256"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9977999925613403,"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/T13052","display_name":"Molecular Communication and Nanonetworks","score":0.9900000095367432,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.6570785045623779},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.5745061635971069},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5743399858474731},{"id":"https://openalex.org/keywords/homogeneous","display_name":"Homogeneous","score":0.5627578496932983},{"id":"https://openalex.org/keywords/magnet","display_name":"Magnet","score":0.5465018153190613},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4904050827026367},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.44883793592453003},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43700796365737915},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.4275127351284027},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4241352677345276},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40604040026664734},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3612740933895111},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2880280315876007},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22022303938865662},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18377381563186646},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11843496561050415}],"concepts":[{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.6570785045623779},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.5745061635971069},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5743399858474731},{"id":"https://openalex.org/C66882249","wikidata":"https://www.wikidata.org/wiki/Q169336","display_name":"Homogeneous","level":2,"score":0.5627578496932983},{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.5465018153190613},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4904050827026367},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.44883793592453003},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43700796365737915},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.4275127351284027},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4241352677345276},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40604040026664734},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3612740933895111},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2880280315876007},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22022303938865662},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18377381563186646},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11843496561050415},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"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/tro.2020.3016511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2020.3016511","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5299999713897705,"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being"},{"score":0.41999998688697815,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G2109060739","display_name":null,"funder_award_id":"72055222","funder_id":"https://openalex.org/F4320334506","funder_display_name":"Canadian Institutes of Health Research"},{"id":"https://openalex.org/G3446791890","display_name":null,"funder_award_id":"72055331","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"}],"funders":[{"id":"https://openalex.org/F4320334506","display_name":"Canadian Institutes of Health Research","ror":"https://ror.org/01gavpb45"},{"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":40,"referenced_works":["https://openalex.org/W641642611","https://openalex.org/W1875483184","https://openalex.org/W1992360392","https://openalex.org/W1992500828","https://openalex.org/W1993086849","https://openalex.org/W2007453190","https://openalex.org/W2015705868","https://openalex.org/W2019643737","https://openalex.org/W2033315256","https://openalex.org/W2049289698","https://openalex.org/W2061848267","https://openalex.org/W2065204794","https://openalex.org/W2065601224","https://openalex.org/W2087826881","https://openalex.org/W2094904022","https://openalex.org/W2100512598","https://openalex.org/W2150125749","https://openalex.org/W2165032710","https://openalex.org/W2199230467","https://openalex.org/W2272609493","https://openalex.org/W2296742912","https://openalex.org/W2538425024","https://openalex.org/W2588569932","https://openalex.org/W2591461579","https://openalex.org/W2594391624","https://openalex.org/W2606585459","https://openalex.org/W2735010709","https://openalex.org/W2736206366","https://openalex.org/W2739219590","https://openalex.org/W2761902729","https://openalex.org/W2765561693","https://openalex.org/W2891509873","https://openalex.org/W2896049741","https://openalex.org/W2899615309","https://openalex.org/W2910011012","https://openalex.org/W2913653683","https://openalex.org/W2914856714","https://openalex.org/W2980790222","https://openalex.org/W4210753058","https://openalex.org/W4293255699"],"related_works":["https://openalex.org/W2381426581","https://openalex.org/W2024370140","https://openalex.org/W2159705349","https://openalex.org/W2105392727","https://openalex.org/W2081826635","https://openalex.org/W2125678830","https://openalex.org/W601048412","https://openalex.org/W2910312841","https://openalex.org/W4210698599","https://openalex.org/W2314419648"],"abstract_inverted_index":{"Wireless":[0],"robots":[1],"at":[2],"the":[3,26,38,58,64,68,88,126,160,166],"subcentimeter":[4],"size":[5],"are":[6,21,108,153],"often":[7],"actuated":[8],"using":[9],"externally":[10],"generated":[11],"magnetic":[12,19,27,41,70],"fields.":[13],"For":[14],"most":[15],"applications,":[16],"these":[17,170],"remote":[18],"microrobots":[20,35,118],"located":[22],"relatively":[23],"far":[24],"from":[25],"field":[28,42,71],"generation":[29],"sources.":[30],"In":[31],"this":[32],"condition,":[33],"all":[34],"receive":[36],"approximately":[37],"same":[39],"driving":[40],"(which":[43],"we":[44,81,131],"term":[45],"a":[46,83,96,143,148,176],"homogeneous":[47,69],"field).":[48],"While":[49],"some":[50],"solutions":[51],"have":[52],"been":[53,78],"presented":[54],"to":[55,86,121,134,155],"allow":[56,114],"for":[57,72,115],"creation":[59],"of":[60,67,91,102,105,128,159,179],"simple":[61],"onboard":[62],"tools,":[63],"full":[65],"potential":[66],"multi-degrees-of-freedom":[73],"(DOF)":[74],"actuation":[75],"has":[76],"not":[77],"exploited.":[79],"Here":[80],"introduce":[82],"design":[84,135],"framework":[85],"utilize":[87],"maximum":[89],"number":[90],"independently":[92],"controlled":[93],"DOFs":[94,163,172],"on":[95],"microrobot":[97],"system.":[98],"We":[99],"make":[100],"use":[101],"three":[103],"classes":[104],"mechanisms":[106],"which":[107],"commonly":[109],"used":[110,132],"in":[111],"practice":[112],"and":[113,147],"more":[116],"complex":[117],"with":[119,142,175],"up":[120],"eight":[122],"DOFs.":[123],"To":[124],"verify":[125],"functionality":[127],"our":[129],"framework,":[130],"it":[133],"an":[136],"optimized":[137],"drug":[138],"delivery":[139],"robot":[140],"equipped":[141],"3-DOF":[144],"drug-releasing":[145],"mechanism":[146],"4-DOF":[149],"motion":[150],"mechanism.":[151],"Experiments":[152],"performed":[154],"actuate":[156],"each":[157],"one":[158],"robot's":[161],"seven":[162,171],"individually,":[164],"where":[165],"cross-talk":[167],"error":[168,178],"between":[169],"averaged":[173],"7%":[174],"max":[177],"18.3%.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}