Frequency Splitting-Based Wireless Power Transfer and Simultaneous Propulsion Generation to Multiple Micro-Robots

Multiple microrobots are needed in biomedical applications to perform time-bound complex clinical practices. Simultaneous wireless power transfer (WPT) and propulsion generation helps the designer to miniaturize the size and capable of executing multitasking operation. However, the selective power and force transfer to multiple devices is challenging and requires multiple frequency magnetic fields at the transmitter (Tx). This paper proposes a new approach of simultaneous independent wireless power and force generation using frequency splitting phenomena present in magnetic resonance. In the proposed approach, three coils at the Tx side is operated under over coupled (OC) mode, which produces three different split frequencies. The split frequency at the Tx side is utilized for the simultaneous independent power and force transfer to three different micro-robots and the number of micro-robots can be increased by operating the Tx side coil at different OC region. In addition, the split frequency of three coil WPT circuit comprises of the original resonant frequency irrespective of variation in coupling between the coils. This feature can be applied for the design of leader-follower control approach to the multiple micro-robots environments. The mathematical, simulations, and experimental analysis of power transfer and force generation at frequency splitting are performed for the proposed system with five load coils (considered as micro-robots).