Automated manipulation of magnetic micro beads with electromagnetic coil system

Magnetic manipulation of micro particles has exhibited a great potential in clinical applications due to its non-invasive feature. The demand for precise motion control with high throughput highlights the necessity of bringing the automation technology to this important area. In this paper, we attempt to use an electromagnetic coil system for achieving automated manipulation of micro beads. Utilizing visual position feedback, a closed-loop control law based on input-to-state stability and backstepping is proposed, which guarantees that the bead can successfully follow the desired trajectory in three dimensions while maintaining stability of the overall system.