The MFG-system is capable of generating a wide variety of static or varying magnetic fields. With our system, users carry out research on magnetic field-dependent phenomena and develop applications for magnetic microrobots. The versatile MFG can produce fields to activate modes as diverse as field gradient response, stick-slip or rolling motions, and flagellar swimming (various applications are presented in references 2- 4). The MFG-100 consists of 8 stationary electromagnets with ferromagnetic cores, and is capable of producing arbitrary magnetic fields and field gradients at various frequencies. The system has a spherical workspace with a diameter of approximately 10 mm and is completely unrestrained in the rotational degrees-of-freedom. This is accomplished through the superposition of multiple magnetic fields, and capitalizes on a linear representation of the coupled field contributions of multiple soft-magnetic-core electromagnets acting in concert.
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