Magnetic actuation based snake-like mechanism and locomotion driven by rotating magnetic field

S. H. Kim, S. Hashi, K. Ishiyama

Research output: Contribution to journalArticlepeer-review

28 Citations (Scopus)


Various magnetic micro-robots driven by an external magnetic field have recently been suggested for bio-medical application. The main benefit of control using an external magnetic field that it is wireless and the robot is battery-free. Most locomotion methods of magnetic micro-robots depend on swimming method using an alternatiing magnetic field. In addition, a rotating magnetic field has been used for the spiral swimming method. In this paper, we propose a new locomotion method and mechanism within the rotating magnetic field using a three-axis Helmholtz coil. The proposed mechanism is based on snake-like skeletal motion that consists of an NdFeB spherical magnet, artificial spine, and ribs. This structure creates an undulatory motion based on dynamic rotation of both roll and yaw motions by magnetic torque. The proposed mechanism and driving method shows excellent mobility in various environments.

Original languageEnglish
Article number6027705
Pages (from-to)3244-3247
Number of pages4
JournalIEEE Transactions on Magnetics
Issue number10
Publication statusPublished - 2011 Oct


  • Biologically inspired approach
  • dynamic actuation
  • magnetic robot
  • rotating magnetic field
  • undulatory motion

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Electrical and Electronic Engineering


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