Bilateral control simulations for a pair of magnetically-coupled robotic arm and bacterium for in vivo applications
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RESEARCH PAPER
Bilateral control simulations for a pair of magnetically-coupled robotic arm and bacterium for in vivo applications Ahmet Fatih Tabak 1 Received: 17 May 2020 / Revised: 8 August 2020 / Accepted: 1 September 2020 # Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract There are several in vivo and in vitro control performances with artificial micro-swimmers; however, control of a biohybrid micro-swimmer using an open kinematic chain remains fairly untouched to this date. In this work, non-contact maneuvering control of a single magnetotactic bacterium cell is simulated under in vivo conditions of a synovial joint with associated physical properties of the respective synovial cavity. A very detailed mathematical model representing in vivo swimming conditions of an actual bacterium cell is built followed by a PID control scheme with adaptive integral gains. The performance of the control law is presented with the help of time-dependent errors to different yaw-angle references accompanied by the time-dependent states of the coupled system. The results show that the proposed control law is capable of adjusting the heading, i.e., yaw-angle, of the simulated magnetotactic bacterium species, i.e., Magnetospirillum Gryphiswaldense, moving at proximity to a curved surface, i.e., the inner surface of the synovial joint in a Homo sapiens. The results further demonstrate that it is possible to achieve setpoint tracking against both constant and time-dependent references. Keywords Adaptive bilateral control . Non-contact micromanipulation . Synovial joints . Magnetotactic bacteria . Numerical simulation
1 Introduction The use of microrobots of different origins in therapeutic applications is widely demonstrated in the literature [1–5]. There are acoustic, optic, chemical, biohybrid, and magnetic microrobots, performing single or in a swarm, used for in vivo and in vitro demonstrations of possible uses [6–14]. The magnetic microrobots, especially of the bioinspired sort, can further be categorized as artificial, biohybrid, and magnetotactic [15–17]. Motion control of such systems is widely dependent on the computer-controlled electromagnetic field and the associated gradients dependent on modulated electric currents on speciallyarranged electromagnetic coils [18, 19]. The coils are either of an MRI system, of a much smaller stationary configuration, or mounted at the end-effector of a robotic arm [20–22]. Furthermore, open- and closed-loop control efforts have recently
* Ahmet Fatih Tabak [email protected] 1
Mechatronics Engineering Department, Bahcesehir University, 34353 Istanbul, Turkey
proliferated in the literature to demonstrate the practicality of such systems [23–40]. However, the feasibility of the control of a magnetotactic bacterium (MTB) with the help of permanent magnets at the end-effector of an open-kinematic chain is not widely studied to date. The electromagnetic coils have the two immediate disadvantages: (i) energy loss due to Joule-heating followed by the strong
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