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| Symbol | Description |
|---|---|
| υ | Vector (lowercase, bold) |
| M | Matrix (uppercase) |
| I | Identity matrix ∈ ℝ3 |
| υ̇ | Rate of change of parameter with respect to time |
| υ̂ | Unit vector |
| pa | Position of robot end-effector |
| pc | Capsule position |
| p = pc − pa | Relative capsule position vector |
| mc | Magnetic moment of capsule's magnet |
| ma | Magnetic moment of EPM |
| fm | Force induced by EPM on capsule |
| τm | Torque induced by EPM on capsule |
