A Magnetic-Driven Multi-motion Robot with Position/Orientation Sensing Capability

Miniature magnetic-driven robots with multimode motions and high-precision pose sensing capacity (position orientation) are greatly demanded in situ manipulation narrow opaque enclosed spaces. Various magnetic have been carried out, whereas their deformations normally remain single mode, the lack of robot’s real-time status leads to its beyond-sight remagnetization being impossible. The function integration motion is still challenge. Here, a multimotion thin-film robot created novel multilayer structure layer covered by heating-sensing conductive layer. Such not only can segmentally on-demand heat for magnetization reprogramming but also precisely detect from electrical-resistance effect creating small deformation under preset fields. Under sensing, necessary motions, i.e., swimming, rolling, crawling, obstacle-crossing, achieved field B Repr 10 mT, poses an accuracy ± 3 mm position 2.5° orientation obtained even low strength Sens 5 which combined help realize accurate out-of-sight manipulations space environment. Finally, gastroscope stomach drug delivery has demonstrated more gastrointestinal medical treatments.