Closed Loop Static Control of Multi-Magnet Soft Continuum Robots

This letter discusses a novel static control approach applied to magnetic soft continuum robot (MSCR). Our aim is demonstrate the of multi-magnet (SCR) in 3D. The proposed controller, based on simplified yet accurate model robot, has high update rate and capable real-time shape control. For actuation MSCR, we employ dual external permanent magnet (dEPM) platform sense via fiber Bragg grating (FBG). employed system sensing technique makes directly applicable medical context. We that running at approximately 300 Hz, tracking with mean error 8.5% maximum 35.2%. experimentally show controller 25.9% more than standard PID able reduce by 59.2%.