{"id":"https://openalex.org/W4313009910","doi":"https://doi.org/10.1109/tro.2022.3209038","title":"Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets","display_name":"Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets","publication_year":2022,"publication_date":"2022-10-05","ids":{"openalex":"https://openalex.org/W4313009910","doi":"https://doi.org/10.1109/tro.2022.3209038"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3209038","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3209038","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/A5049921916","display_name":"Giovanni Pittiglio","orcid":"https://orcid.org/0000-0002-0714-5267"},"institutions":[{"id":"https://openalex.org/I1288882113","display_name":"Boston Children's Hospital","ror":"https://ror.org/00dvg7y05","country_code":"US","type":"healthcare","lineage":["https://openalex.org/I1288882113"]},{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]},{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Giovanni Pittiglio","raw_affiliation_strings":["Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Boston, MA, USA","STORM Lab, Institute of Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"raw_orcid":"https://orcid.org/0000-0002-0714-5267","affiliations":[{"raw_affiliation_string":"Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Boston, MA, USA","institution_ids":["https://openalex.org/I1288882113","https://openalex.org/I136199984"]},{"raw_affiliation_string":"STORM Lab, Institute of Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066063355","display_name":"Michael Brockdorff","orcid":"https://orcid.org/0000-0001-9022-4670"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Michael Brockdorff","raw_affiliation_strings":["STORM Lab, Institute of Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9022-4670","affiliations":[{"raw_affiliation_string":"STORM Lab, Institute of Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010685767","display_name":"Tom\u00e1s da Veiga","orcid":"https://orcid.org/0000-0002-4286-4590"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Tomas da Veiga","raw_affiliation_strings":["STORM Lab, Institute of Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"raw_orcid":"https://orcid.org/0000-0002-4286-4590","affiliations":[{"raw_affiliation_string":"STORM Lab, Institute of Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005141883","display_name":"Joshua Davy","orcid":"https://orcid.org/0000-0001-9483-111X"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Joshua Davy","raw_affiliation_strings":["STORM Lab, Institute of Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9483-111X","affiliations":[{"raw_affiliation_string":"STORM Lab, Institute of Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018926020","display_name":"James H. Chandler","orcid":"https://orcid.org/0000-0001-9232-4966"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"James Henry Chandler","raw_affiliation_strings":["STORM Lab, Institute of Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9232-4966","affiliations":[{"raw_affiliation_string":"STORM Lab, Institute of Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035357710","display_name":"Pietro Valdastri","orcid":"https://orcid.org/0000-0002-2280-5438"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Pietro Valdastri","raw_affiliation_strings":["STORM Lab, Institute of Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K"],"raw_orcid":"https://orcid.org/0000-0002-2280-5438","affiliations":[{"raw_affiliation_string":"STORM Lab, Institute of Autonomous Systems and Sensing, School of Electronic and Electrical Engineering, University of Leeds, Leeds, U.K","institution_ids":["https://openalex.org/I130828816"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.1437,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.92908793,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"39","issue":"2","first_page":"1407","last_page":"1418"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9998000264167786,"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/T11486","display_name":"Micro and Nano Robotics","score":0.9995999932289124,"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/T12405","display_name":"Characterization and Applications of Magnetic Nanoparticles","score":0.9930999875068665,"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/magnet","display_name":"Magnet","score":0.8694871068000793},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.8190958499908447},{"id":"https://openalex.org/keywords/electromagnetic-coil","display_name":"Electromagnetic coil","score":0.5286605358123779},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49686816334724426},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4799666404724121},{"id":"https://openalex.org/keywords/magnetic-field","display_name":"Magnetic field","score":0.44701987504959106},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44312405586242676},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.39837902784347534},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34027451276779175},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2563326358795166},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24108052253723145},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18985974788665771},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18943017721176147},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1707601249217987}],"concepts":[{"id":"https://openalex.org/C16389437","wikidata":"https://www.wikidata.org/wiki/Q11421","display_name":"Magnet","level":2,"score":0.8694871068000793},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.8190958499908447},{"id":"https://openalex.org/C30403606","wikidata":"https://www.wikidata.org/wiki/Q2981904","display_name":"Electromagnetic coil","level":2,"score":0.5286605358123779},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49686816334724426},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4799666404724121},{"id":"https://openalex.org/C115260700","wikidata":"https://www.wikidata.org/wiki/Q11408","display_name":"Magnetic field","level":2,"score":0.44701987504959106},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44312405586242676},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.39837902784347534},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34027451276779175},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2563326358795166},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24108052253723145},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18985974788665771},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18943017721176147},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1707601249217987},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2022.3209038","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3209038","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"},{"id":"pmh:oai:eprints.whiterose.ac.uk:191843","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[{"id":"https://openalex.org/G5602145593","display_name":null,"funder_award_id":"EP/R045291/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2017696181","https://openalex.org/W2055573331","https://openalex.org/W2100512598","https://openalex.org/W2164021550","https://openalex.org/W2199230467","https://openalex.org/W2313829339","https://openalex.org/W2575383569","https://openalex.org/W2575426328","https://openalex.org/W2607040065","https://openalex.org/W2735010709","https://openalex.org/W2770680484","https://openalex.org/W2810031855","https://openalex.org/W2891509873","https://openalex.org/W2914578700","https://openalex.org/W2980790222","https://openalex.org/W2991187840","https://openalex.org/W3004467325","https://openalex.org/W3037426978","https://openalex.org/W3043438200","https://openalex.org/W3083187437","https://openalex.org/W3090235105","https://openalex.org/W3091366207","https://openalex.org/W3095100535","https://openalex.org/W3104421688","https://openalex.org/W3125716973","https://openalex.org/W3127291264","https://openalex.org/W3133156511","https://openalex.org/W3154721963","https://openalex.org/W3175779901","https://openalex.org/W4221032282"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W2329043542","https://openalex.org/W1999333556","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103"],"abstract_inverted_index":{"Magnetically":[0],"actuated":[1,59],"robots":[2],"have":[3],"proven":[4],"effective":[5],"in":[6,10,141],"several":[7],"applications,":[8],"specifically":[9],"medicine.":[11],"However,":[12],"generating":[13],"high":[14,19],"actuating":[15],"fields":[16,118],"with":[17,126],"a":[18,25,32,38,44,127,158,164],"degree":[20],"of":[21,50,72,84,96,116,161,167],"manipulability":[22],"is":[23],"still":[24],"challenge,":[26],"especially":[27],"when":[28,99],"the":[29,48,70,85,110,114,117,135,148,155],"application":[30],"needs":[31],"large":[33],"workspace":[34],"to":[35,67,92,101],"suitably":[36],"cover":[37],"patient.":[39],"The":[40],"presented":[41],"work":[42],"discusses":[43],"novel":[45],"approach":[46],"for":[47],"control":[49,125],"magnetic":[51,136],"field":[52,54,74],"and":[53,119,121,146,163],"gradients":[55,120],"using":[56],"two":[57,86,151],"robotically":[58],"permanent":[60,65,87,103],"magnets.":[61],"In":[62],"this":[63],"case,":[64],"magnets\u2014relative":[66],"coil-based":[68],"systems\u2014have":[69],"advantage":[71],"larger":[73],"density":[75],"without":[76],"energy":[77],"consumption.":[78],"We":[79,108,131],"demonstrate":[80,133],"that":[81],"collaborative":[82],"manipulation":[83],"magnets":[88,153],"can":[89,138],"introduce":[90],"up":[91],"three":[93],"additional":[94],"Degrees":[95],"Freedom":[97],"(DOFs)":[98],"compared":[100],"single":[102],"magnet":[104],"approaches":[105],"(five":[106],"DOFs).":[107],"characterized":[109],"dual-arm":[111],"system":[112],"through":[113],"measurement":[115],"show":[122],"accurate":[123],"open-loop":[124],"13.5%":[128],"mean":[129,165],"error.":[130],"then":[132],"how":[134],"DOFs":[137],"be":[139],"employed":[140],"magnetomechanical":[142],"manipulation,":[143],"by":[144],"controlling":[145],"measuring":[147],"wrench":[149],"on":[150],"orthogonal":[152],"within":[154],"workspace,":[156],"observing":[157],"maximum":[159],"crosstalk":[160],"6.1%":[162],"error":[166],"11.1%.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":13}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}