Magnetic Actuation Systems for Miniature Robots: A Review

这篇文章非常详尽地介绍了用于磁驱动的各种方法和系统，总体分为四大类，单永磁，多永磁，线圈组，分布式电磁铁组合。

用于微型机器人的磁驱动系统：回顾
Magnetic Actuation Systems for Miniature Robots: A Review [1]
Paper Link
Authors: Yang, Zhengxin, et al.
2020, Advanced Intelligent Systems

0. Abstract 摘要

对用于微型机器人的最新磁驱动系统的回顾被展示，目的是提供给读者对磁驱动的更好的理解以及对未来系统设计的指导。
a review on the state-of-the-art magnetic actuation systems for miniature robots is presented with the goal of providing readers with a better understanding of magnetic actuation and guidance for future system design.

1. Introduction 介绍

这篇系统回顾主要聚焦在当前的磁驱动系统的配置和它们的磁场生成能力。
The system review mainly focuses on the configurations of the current magnetic actuation systems and their capability of magnetic field generation

2. Magnetic Actuation and Magnetic Fields 磁驱动和磁场

2.1 Magnetic Actuation Principle

2.2 Magnetic Field Generation

2.2.1 Permanent magnets

2.2.2 Electromagnets

2.3 Magnetic Field Safety 磁场安全

据报道，当暴露在低于2T的磁场中时没有一致的生物学影响。文献表明没有严重的不利健康影响当健康人暴露在8T以下的磁场中。然而，对于有导电性植入物的人来说，安全值下降到25mT，对于有心脏起搏器和电激活植入物的工人来说则为0.5mT。
It is reported that no consistent biological effect exerts on humans when exposed to magnetic fields below 2 T. The literature indicates no serious adverse health effects from the exposure of healthy people up to 8 T. However, the safety value reduces to 25 mT for people with conductive implants, and 0.5 mT for workers with cardiac pacemakers and electrically active implants.

感应电场正比于磁场变化率和一个依赖于场分布，身体几何形状和组织特征的常数。磁场变化率的一个推荐的限制为：
The induced electric field is proportional to the magnetic field variation rate and a constant that depends on field distribution, body geometry, and tissue characteristics. A recommended restriction of magnetic field variation rate is expressed as

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