IEEE - Institute of Electrical and Electronics Engineers, Inc. - Sensitivity Ellipsoids for Force Control of Magnetic Robots With Localization Uncertainty

Author(s): Piotr R. Slawinski ; Nabil Simaan ; Addisu Z. Taddese ; Keith L. Obstein ; Pietro Valdastri
Sponsor(s): IEEE Robotics and Automation Society
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Volume: PP
Page(s): 1 - 13
ISSN (Electronic): 1941-0468
ISSN (Paper): 1552-3098
DOI: 10.1109/TRO.2019.2917817
Regular:

The navigation of magnetic medical robots typically relies on localizing an actuated, intracorporeal, ferromagnetic body and back-computing a necessary field and gradient that would result in a... View More

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