Pith Number

pith:XDJCVTPF

pith:2026:XDJCVTPF6BNLERKSUHNP453YB6

not attested not anchored not stored refs resolved

Design of Magnetic Continuum Robots with Tunable Force Response Using Rotational Ring Pairs

Alex Sayres, Giovanni Pittiglio

Rotational ring pairs let magnetic continuum robots tune tip direction and intensity online.

arxiv:2605.13613 v1 · 2026-05-13 · cs.RO

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

The proposed robot design can be used in both controllable and fixed magnetic fields, potentially widening the clinical applicability of these robots. We experimentally show a max tip deflection of 33.8 mm from the resting state (23 % of the length of the robot) with a model based on modified beam theory that captures the mechanical behavior with a mean absolute tip tracking error of 1.86 mm (1.2 % of the length).

C2weakest assumption

The modified beam theory model accurately captures the mechanical behavior of the continuum robot under varying ring rotations without requiring additional correction terms or assumptions about friction, material nonlinearity, or ring interaction effects.

C3one line summary

Magnetic continuum robot using rotational ring pairs achieves tunable tip response with 33.8 mm max deflection and 1.86 mm mean modeling error via modified beam theory.

References

19 extracted · 19 resolved · 0 Pith anchors

[1] Magnetic control of continuum devices, 2017

[2] Remote magnetic navigation enables precision telesurgery, 2024

[3] Continuum Robot Shape Estimation Using Magnetic Ball Chains, 2024

[4] Telerobotic neurovascular interventions with magnetic manipulation, 2022

[5] Closed Loop Static Control of Multi- Magnet Soft Continuum Robots, 2023

Formal links

2 machine-checked theorem links

Receipt and verification

First computed	2026-05-18T02:44:18.009569Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

b8d22acde5f05ab24552a1dafe77780f8cd8a6f72f74f7eb2d6ce1aee467913f

Aliases

arxiv: 2605.13613 · arxiv_version: 2605.13613v1 · doi: 10.48550/arxiv.2605.13613 · pith_short_12: XDJCVTPF6BNL · pith_short_16: XDJCVTPF6BNLERKS · pith_short_8: XDJCVTPF

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/XDJCVTPF6BNLERKSUHNP453YB6 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: b8d22acde5f05ab24552a1dafe77780f8cd8a6f72f74f7eb2d6ce1aee467913f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "595325e568042f93e0a70e68e34240d47dee29201df4d273a9b4300a2f1942c7",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-13T14:44:19Z",
    "title_canon_sha256": "a18af27f14738c33ec933322b644663485d963bc98930abf967b9feb410067a3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.13613",
    "kind": "arxiv",
    "version": 1
  }
}