# Electromagnetically Driven Robot for Multipurpose Applications
## 1 Introduction and Literature
Despite these advancements, the inherent challenge persists: the pre-curvature of tubes imposes constraints on the path-following capabilities of these systems and complicates the control of multi-degree-of-freedom bending actions. This limitation underscores the ongoing need for novel solutions to address the complexities associated with achieving precise and versatile bending movements in continuum robotics. Recent developments in robotics have witnessed a significant shift towards the exploration of magnetically driven mechanisms for the precise control of multi-degree-of-freedom bending. This shift is primarily motivated by the remarkable capabilities of magnetically driven actuator systems to produce substantial actuation forces by harnessing remotely generated magnetic fields effectively [12]. The magnetically driven actuator mechanism typically relies on the integration of soft flux actuator modules, which are commonly associated with two conventional electromagnetic coils, enabling intricate and versatile control over complex robotic movements [13]. Soft, flexible, and stretchable materials have emerged as pivotal elements in the domain of magnetically driven actuation, exhibiting their adaptability as soft actuators tailored for a diverse range of soft robotic applications [14]. These materials exhibit intrinsic characteristics that enable seamless incorporation into robotic structures, facilitating dynamic transformations and responsive behaviors to external stimuli. Polydimethylsiloxane (PDMS) robots are made from a flexible silicone material that can stretch or be deformed, allowing them to engage delicate objects or environments. These robots take their design cues from biological organisms in terms of flexibility and contribute to applications such as soft robotics research, models of medical procedures, and studies of human-robot interaction. The advantages of PDMS robots include compliance, usability in complex environments, and the ability to perform operations that are difficult for rigid robots. For evaluating an electromagnetic continuum robot by forming PDMS-based robots, there are specific advantages along with limitations. While the robot design so developed with its specific dimensions and other components can induce many advantages, including higher precision in control due to well-defined structures, the system components coupled with driving circuitry include more intricate movements with functionalities ranging from simpler to more complex designs and add an obvious level of complexity in the capabilities of the robot. The PDMS robots' disadvantages include limited holding capacity by soft PDMS, difficulties in controlling movement in an external magnetic field, durability and wear and tear, sensor integration for feedback and autonomous action, and environmental limitations of material properties. The process of manufacturing PDMS-based robots can also be more complicated than that of rigid-on structures and introduce problems arising from limited rigidity affecting stability and precision together with the likelihood of interference by external magnetic fields. Thus, the choice between the two designs depends on the application requisites and parameters like accuracy, maneuverability, flexibility, and ease of fabrication. In a notable illustration of the magnetically driven mechanism, patent US2022143817A1 [15] describes an electromagnetically actuated robotic system. This system integrates electromagnetic coils, a charge storage unit, one or more processors, multiple electrically conductive pathways, and, optionally, sensor elements, all precisely embedded within or mounted on an elastomeric body. This innovative design allows for the alteration of the shape, movement pattern, and electrical characteristics of the robotic device through the selective activation of one or more electromagnetic coils.