%0 Journal Article %1 daveiga2023sixdegreeoffreedom %A da Veiga, Tomas %A Pittiglio, Giovanni %A Brockdorff, Michael %A Chandler, James H. %A Valdastri, Pietro %D 2023 %J IEEE Robotics and Automation Letters %K Accelerometers,Kalman Actuation,Magnetic Estimation Filter,Localization,Location Robots Systems,Noise and awareness,Magnetic imaging,Medical magnets,Robot measurement,Permanent resonance sensing systems,Sensors,State %N 6 %P 3422--3429, %R 10.1109/LRA.2023.3268588 %T Six-Degree-of-Freedom Localization Under Multiple Permanent Magnets Actuation %V 8 %X Localization of magnetically actuated medical robots is essential for accurate actuation, closed loop control and delivery of functionality. Despite extensive progress in the use of magnetic field and inertial measurements for pose estimation, these have been either under single external permanent magnet actuation or coil systems. With the advent of new magnetic actuation systems comprised of multiple external permanent magnets for increased control and manipulability, new localization techniques are necessary to account for and leverage the additional magnetic field sources. In this letter, we introduce a novel magnetic localization technique in the Special Euclidean Group SE(3) for multiple external permanent magnetic field actuation and control systems. The method relies on a milli-meter scale three-dimensional accelerometer and a three-dimensional magnetic field sensor and is able to estimate the full 6&\#x00A0;\textlessinline-formula\textgreater\textlesstex-math notation="LaTeX"\textgreater\$\^\\\$\textless/tex-math\textgreater\textless/inline-formula\textgreater-of-freedom pose without any prior pose information. We demonstrated the localization system with two external permanent magnets and achieved localization errors of 8.5 \textlessinline-formula\textgreater\textlesstex-math notation="LaTeX"\textgreater\$\$\textless/tex-math\textgreater\textless/inline-formula\textgreater 2.4&\#x00A0;mm in position norm and 3.7 \textlessinline-formula\textgreater\textlesstex-math notation="LaTeX"\textgreater\$\$\textless/tex-math\textgreater\textless/inline-formula\textgreater 3.6\textlessinline-formula\textgreater\textlesstex-math notation="LaTeX"\textgreater\$\^\\\$\textless/tex-math\textgreater\textless/inline-formula\textgreater in orientation, across a cubic workspace with \textlessbold\textgreater20&\#x00A0;cm\textless/bold\textgreater length.

@article{daveiga2023sixdegreeoffreedom, abstract = {Localization of magnetically actuated medical robots is essential for accurate actuation, closed loop control and delivery of functionality. Despite extensive progress in the use of magnetic field and inertial measurements for pose estimation, these have been either under single external permanent magnet actuation or coil systems. With the advent of new magnetic actuation systems comprised of multiple external permanent magnets for increased control and manipulability, new localization techniques are necessary to account for and leverage the additional magnetic field sources. In this letter, we introduce a novel magnetic localization technique in the Special Euclidean Group SE(3) for multiple external permanent magnetic field actuation and control systems. The method relies on a milli-meter scale three-dimensional accelerometer and a three-dimensional magnetic field sensor and is able to estimate the full 6{\&}{\#}x00A0;{\textless}inline-formula{\textgreater}{\textless}tex-math notation="LaTeX"{\textgreater}{\$}{\^{}}{\{}\backslashcirc {\}}{\$}{\textless}/tex-math{\textgreater}{\textless}/inline-formula{\textgreater}-of-freedom pose without any prior pose information. We demonstrated the localization system with two external permanent magnets and achieved localization errors of 8.5 {\textless}inline-formula{\textgreater}{\textless}tex-math notation="LaTeX"{\textgreater}{\$}\backslashpm{\$}{\textless}/tex-math{\textgreater}{\textless}/inline-formula{\textgreater} 2.4{\&}{\#}x00A0;mm in position norm and 3.7 {\textless}inline-formula{\textgreater}{\textless}tex-math notation="LaTeX"{\textgreater}{\$}\backslashpm{\$}{\textless}/tex-math{\textgreater}{\textless}/inline-formula{\textgreater} 3.6{\textless}inline-formula{\textgreater}{\textless}tex-math notation="LaTeX"{\textgreater}{\$}{\^{}}{\{}\backslashcirc {\}}{\$}{\textless}/tex-math{\textgreater}{\textless}/inline-formula{\textgreater} in orientation, across a cubic workspace with {\textless}bold{\textgreater}20{\&}{\#}x00A0;cm{\textless}/bold{\textgreater} length.}, added-at = {2023-05-10T16:23:27.000+0200}, author = {da Veiga, Tomas and Pittiglio, Giovanni and Brockdorff, Michael and Chandler, James H. and Valdastri, Pietro}, biburl = {https://www.bibsonomy.org/bibtex/25d6912f6b92669460f880cf9192d603e/sassw}, doi = {10.1109/LRA.2023.3268588}, interhash = {a09d4a74b0d11d062ba71c725252f233}, intrahash = {5d6912f6b92669460f880cf9192d603e}, issn = {23773766}, journal = {IEEE Robotics and Automation Letters}, keywords = {Accelerometers,Kalman Actuation,Magnetic Estimation Filter,Localization,Location Robots Systems,Noise and awareness,Magnetic imaging,Medical magnets,Robot measurement,Permanent resonance sensing systems,Sensors,State}, number = 6, pages = {3422--3429,}, timestamp = {2023-05-10T16:23:27.000+0200}, title = {{Six-Degree-of-Freedom Localization Under Multiple Permanent Magnets Actuation}}, volume = 8, year = 2023 }