Open-Loop Orientation Control Using Dynamic Magnetic Fields

Remote magnetic control of soft magnetic objects has been limited to 2D orientation and 3D position. In this letter, we extend the five degree-of-freedom (5-DoF) control approach to full 6-DoF. We prove that 6-DoF control is possible for objects that have an apparent magnetic susceptibility tensor with unique eigenvalues. We further show that the object's orientation can be specified with a dynamic magnetic field and can be controlled without orientation feedback.The theory is demonstrated by rotating a soft magnetic object about each of its principle axes using a metronome like dynamic field.