ArticleMicromachines2022
2D Magnetic Manipulation of a Micro-Robot in Glycerin Using Six Pairs of Magnetic Coils.
Article in Micromachines, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
What it found
Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.
The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.
Who cites it
5 citing papers in PubMed.
- A Platform for the Actuation of Magnetically Labeled Skeletal Muscle Cells Using Dynamic Magnetic Stimulation.Small (Weinheim an der Bergstrasse, Germany) · 2026Article
- Magnetically-guided, stimuli-responsive microdevices for endovascular therapy.Biomedical microdevices · 2026Article
- A Pill That Prints-An Ingestible Bioprinter for Non-Invasive Structured Bioink Deposition.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2025Article
- Image-Based Auto-Focus Microscope System with Visual Servo Control for Micro-Stereolithography.Micromachines · 2024Article
- Nano/Micromotors for Cancer Diagnosis and Therapy: Innovative Designs to Improve Biocompatibility.Pharmaceutics · 2023Review
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
4 authors.
Funding
Abstract
This paper demonstrates the control system of a single magnetic micro-robot driven by combined coils. The combined coils consist of three pairs of Helmholtz coils and three pairs of Maxwell coils. The rotating magnetic field, gradient magnetic field, and combined magnetic field model of the combined coils were analyzed. To make the output magnetic field quickly converge to the reference point without steady-state error, the discrete-time optimal controller was designed based on the auto disturbance rejection technology. We have designed a closed-loop controller based on a position servo. The control system includes the position control and direction control of the micro-robot. To address problems with slow sampling frequency in visual feedback and inability to feed real-time position back to the control system, a Kalman filter algorithm was used to predict the position of the micro-robot in two-dimensional space. Simulations and experiments were carried out based on the proposed structure of combined coils and control scheme. The experimental results demonstrated the uniformity and excellent dynamic performance of the generated magnetic field.
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What OpenQuestion holds
Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.