{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,2]],"date-time":"2026-08-02T15:18:48Z","timestamp":1785683928088,"version":"3.56.0"},"reference-count":52,"publisher":"SAGE Publications","issue":"1-3","license":[{"start":{"date-parts":[[2015,2,16]],"date-time":"2015-02-16T00:00:00Z","timestamp":1424044800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2016,1]]},"abstract":"<jats:p>This paper demonstrates magnetic three-degree-of-freedom (3-DOF) closed-loop position and 2-DOF open-loop orientation control of a mockup magnetic capsule endoscope in fluid with a single permanent magnet positioned by a commercial 6-DOF robotic manipulator, using feedback of only the 3-DOF capsule position measured by a localization system, with application in capsule endoscopy of a fluid-distended stomach. We analyze the kinematics of magnetic manipulation using a single permanent magnet as the end-effector of a serial-link robot manipulator, and we formulate a control method that enables the capsule\u2019s position and direction to be controlled when the robot manipulator is not in a kinematic singularity, and that sacrifices control over the capsule\u2019s direction to maintain control over the capsule\u2019s position when the manipulator enters a singularity. We demonstrate the method\u2019s robustness to a reduced control rate of 25\u2009Hz, reduced localization rates down to 30\u2009Hz, deviation in the applied magnetic field from that expected, and the presence of manipulator singularities. Five-DOF manipulation of an untethered magnetic device has been previously demonstrated by electromagnetic systems only.<\/jats:p>","DOI":"10.1177\/0278364914558006","type":"journal-article","created":{"date-parts":[[2015,2,16]],"date-time":"2015-02-16T23:09:44Z","timestamp":1424128184000},"page":"129-147","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":253,"title":["Five-degree-of-freedom manipulation of an untethered magnetic device in fluid           using a single permanent magnet with application in stomach capsule           endoscopy"],"prefix":"10.1177","volume":"35","author":[{"given":"Arthur W.","family":"Mahoney","sequence":"first","affiliation":[{"name":"School of Computing, University of Utah,\r        USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jake J.","family":"Abbott","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering,\r        University of 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