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. Author manuscript; available in PMC: 2024 Oct 17.
Published in final edited form as: Int Conf Manip Autom Robot Small Scales. 2023 Oct 31;2023:10.1109/marss58567.2023.10294136. doi: 10.1109/marss58567.2023.10294136

Fig. 7.

Fig. 7.

(a) Graph displaying displacement angle (Δθ) versus frequency and (b) a schematic illustration of magnetic oscillation. As the frequency at which each electromagnet is pulsed increases, the resulting angular displacement of the magnetic microrobot decreases. A frequency of 5 Hz results in the microrobot rotating approximately 60 degrees whereas a frequency of 30 Hz results in very small angular displacement.