Dynamics of the motion of a magnetically controlled soft microrobot

Dynamics of the motion of a magnetically controlled soft microrobot

Andrei V. Malchikov, Candidate of Engineering Sciences, Associate Professor of the Department MMiR, South-West State University (SWSU), 94, ul. 50 Let Octyabrya, Kursk, 305040, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0003-2902-1721

Sergey F. Jatsun, Doctor of Engineering Sciences, Professor, Head of the Department MMiR, SWSU, 94, ul. 50 Let Octyabrya, Kursk, 305040, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-7420-0772

Petr A. Ryapolov, Doctor of Physical and Mathematical Sciences, Associate Professor, Dean of the ENF, SWSU, 94, ul. 50 Let Octyabrya, Kursk, 305040, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0001-7712-0682

Evgeny A. Sokolov, Lecturer, SWSU, 94, ul. 50 Let Octyabrya, Kursk, 305040, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Kirill K. Novikov, Student, SWSU, 94, ul. 50 Let Octyabrya, Kursk, 305040, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

UDC identifier: 681.527.83:007.52

EDN: UPUEAV

Abstract. In recent years, there has been a significant focus in the field of medical technology and microrobotics on the development of magnetically controlled soft microrobots that can perform precise surgical manipulations inside the human body, as well as carry out targeted drug delivery and diagnostic procedures. Objects based on iron-filled polymers are of particular interest, as they combine mechanical flexibility, biocompatibility, and a high degree of responsiveness to external magnetic fields. Despite progress in creating these systems, key aspects of their motion, including the dynamics of controlled movement and the effects of interactions with the environment, are still not well understood. This work aims to conduct an experimental and theoretical study on the behavior of magnetically controlled microrobots made from an iron-filled elastomer in a closed, non-deformable channel under different conditions. The paper presents a mathematical model and comparative analysis of numerical simulations and field experiments to obtain patterns of motion for magnetically active objects.

Key words: soft robot, magnetically driven microrobot, experimental research, mathematical modeling, magnetic field, magnetically active object

For citation: Malchikov, A.V., Jatsun, S.F., Ryapolov, P.A., Sokolov, E.A. and Novikov, K.K. (2026), "Dynamics of the motion of a magnetically controlled soft microrobot", Robotics and Technical Cybernetics, vol. 14, no. 1, pp. 40-47, EDN: UPUEAV. (in Russian).

Acknowledgements
The work was supported by Russian Science Foundation, research project No.24-29-00653.

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Received 02.06.2025
Revised 15.06.2025
Accepted 27.07.2025