Simulated Bilateral Motion Control of a Magneto-Tactic Bacterium via an Open Kinematic Chain

Abstract

The medical micro-robotic applications are becoming more eminent by ever-flourishing possibilities presented by the robotics and biomedical communities in the past decade. Artificial and bio-hybrid designs started flooding the literature accompanied by fewer examples of closed-loop control of such systems until recently. The current focus is mainly on MRI systems and electromagnetic coil configurations as it has been long since they proliferated in mainstream medicine. In this paper, a closed-loop control approach to a rather rarely investigated robotic arrangement is proposed. A detailed mathematical model for the dynamics of an open kinematic chain and a single bacterium cell coupled with the help of a magnetic field is established, and a bilateral adaptive control is auspiciously fitted on top to maneuver the cell in a simulated environment.