Tailored Magnetic Torsion Springs for Miniature Magnetic Robots
Bibliographic record
Abstract
Magnetic torsion springs are capable of producing unique and useful torque-displacement responses that are not possible with elastic springs. Millimeter-scale magnetically-actuated robots, which are gaining increasing interest in biomedical applications, would benefit from the use of magnetic torsion springs. However, existing magnetic torsion springs are difficult to fabricate at that scale and can only produce sinusoid-like responses. Here we show that the magnets embedded in the links of a robot for actuation purposes can also be leveraged to produce torsion spring-like behavior. This Simultaneous Magnetic Actuation and Restoring Torque (SMART) spring design can enable switching or pop-up behaviour in millimeter-scale magnetically-actuated mechanisms. A novel analytical model, validated both numerically and experimentally, is used to design constant-stiffness and nonlinear bistable SMART springs. These springs are integrated into a novel 3.5 mm diameter magnetic robot manipulator.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.004 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".