The DOI matches its Crossref record.
Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies
Abstract
We calculate the torque and force generated by an arbitrary magnetic field on an axially symmetric soft-magnetic body. We consider the magnetization of the body as a function of the applied field, using a continuous model that unifies two disparate magnetic models. The continuous torque and force follow. The model is verified experimentally, and captures the often neglected region between weak and saturating fields, where interesting behavior is observed. We provide the field direction to maximize torque for a given field magnitude. We also find an absolute maximum torque, for a given body geometry and material, which can be generated with relatively weak applied fields. This paper is aimed at those interested in systems-level analysis, simulation, and real-time control of soft-magnetic bodies.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cited by
OctoMag: An Electromagnetic System for 5-DOF Wireless Micromanipulation
Kummer, M. P., Abbott, J. J., Kratochvil, B. E., Borer, R., Sengul, A., & Nelson, B. J. (2010) · IEEE Transactions on Robotics · doi:10.1109/tro.2010.2073030 · Cited by 1,161
Self-citationMagnetic Soft Materials and Robots
Kim, Y., & Zhao, X. (2022) · Chemical Reviews · doi:10.1021/acs.chemrev.1c00481 · Cited by 873
Bio-inspired magnetic swimming microrobots for biomedical applications
Peyer, K. E., Zhang, L., & Nelson, B. J. (2013) · Nanoscale · doi:10.1039/c2nr32554c · Cited by 820
Self-citationCapsule Endoscopy: From Current Achievements to Open Challenges
Ciuti, G., Menciassi, A., & Dario, P. (2011) · IEEE Reviews in Biomedical Engineering · doi:10.1109/rbme.2011.2171182 · Cited by 466
Magnetically actuated microrobots as a platform for stem cell transplantation
Jeon, S., Kim, S., Ha, S., Lee, S., Kim, E., Kim, S. Y., Park, S. H., Jeon, J. H., Kim, S. W., Moon, C., et al. (2019) · Science Robotics · doi:10.1126/scirobotics.aav4317 · Cited by 412
Self-citation
Metadata
- Authors
- Abbott, J. J., Ergeneman, O., Kummer, M. P., Hirt, A. M., & Nelson, B. J.
- Venue
- IEEE Transactions on Robotics
- Published
- 2007-12
- Volume
- 23
- Issue
- 6
- Pages
- 1247-1252
- ISSN
- 1552-3098 (ISSN-L)
- OpenAlex
- W2157760711
- Cited by
- 290
- References
- 0
- FWCI
- 8.69
- Type
- journal article
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies. https://app.cochat.ai/papers/10.1109/tro.2007.910775
- The paper
- Abbott, J. J., Ergeneman, O., Kummer, M. P., Hirt, A. M., & Nelson, B. J. (2007). Modeling Magnetic Torque and Force for Controlled Manipulation of Soft-Magnetic Bodies. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2007.910775
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
