Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Magnetically actuated microrobotic system for sequential treatment of biofilm.

Proceedings of the National Academy of Sciences of the United States of America·2026
Same author

How balanced time perspective affects short-video addiction: a chain mediation model based on trait anxiety and ego depletion.

BMC psychology·2026
Same author

Molecular characterisation and phylogenetic placement of a new cestode, <i>Oochoristica turpanoeremiadis</i> sp. nov. (Cestoda: Cyclophyllidea: Linstowiidae), parasitising <i>Eremias roborowskii</i> from Turpan Basin in China.

Parasitology·2026
Same author

Liquid-Liquid Phase Separation in Cancer Drug Resistance: Mechanisms and Therapeutic Opportunities.

Oncology research·2026
Same author

Intelligent scheduling and resource allocation for urban air mobility networks based on graph neural networks.

Scientific reports·2026
Same author

An FAK Kinase/Scaffold Mode-Switch in Dormancy and Resistance.

Cancers·2026

Related Experiment Video

Updated: May 14, 2026

Analyzing Cell Surface Adhesion Remodeling in Response to Mechanical Tension Using Magnetic Beads
07:55

Analyzing Cell Surface Adhesion Remodeling in Response to Mechanical Tension Using Magnetic Beads

Published on: March 8, 2017

A Real-Time Magnetic Adhesion Force Estimation Method for Wall-Climbing Robots Equipped with Halbach Permanent Magnet

Jiabin Cao1, Lin Zhang2, Yiyang Zhao1

  • 1School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.

Sensors (Basel, Switzerland)
|May 13, 2026
PubMed
Summary

This study introduces a fast, accurate method for estimating magnetic adhesion forces in wall-climbing robots using Halbach permanent magnet arrays. The framework enables real-time force calculations for robots with adjustable air gaps.

Keywords:
Halbach magnet arraymagnetic adhesion forcemagnetostatic method of imageswall-climbing robot

More Related Videos

High-Speed Magnetic Tweezers for Nanomechanical Measurements on Force-Sensitive Elements
08:50

High-Speed Magnetic Tweezers for Nanomechanical Measurements on Force-Sensitive Elements

Published on: May 12, 2023

A Simple and Inexpensive Running Wheel Model for Progressive Resistance Training in Mice
06:59

A Simple and Inexpensive Running Wheel Model for Progressive Resistance Training in Mice

Published on: April 28, 2022

Related Experiment Videos

Last Updated: May 14, 2026

Analyzing Cell Surface Adhesion Remodeling in Response to Mechanical Tension Using Magnetic Beads
07:55

Analyzing Cell Surface Adhesion Remodeling in Response to Mechanical Tension Using Magnetic Beads

Published on: March 8, 2017

High-Speed Magnetic Tweezers for Nanomechanical Measurements on Force-Sensitive Elements
08:50

High-Speed Magnetic Tweezers for Nanomechanical Measurements on Force-Sensitive Elements

Published on: May 12, 2023

A Simple and Inexpensive Running Wheel Model for Progressive Resistance Training in Mice
06:59

A Simple and Inexpensive Running Wheel Model for Progressive Resistance Training in Mice

Published on: April 28, 2022

Area of Science:

  • Robotics
  • Magnetics
  • Materials Science

Background:

  • Accurate magnetic adhesion force estimation is crucial for wall-climbing robots using permanent magnet arrays (PMAs).
  • Nonlinear magnetization and complex magnetic fields from Halbach arrays pose significant challenges for conventional models.
  • Finite Element Methods (FEM) offer accuracy but are computationally too expensive for real-time applications.

Purpose of the Study:

  • To develop a real-time magnetic adhesion force estimation framework for wall-climbing robots.
  • To overcome the limitations of existing analytical models and FEM for Halbach PMAs.
  • To enable reliable force estimation for robots with air-gap-adjustable mechanisms.

Main Methods:

  • An analytical magnetic-force estimation model based on the magnetostatic Method of Images (MoI) was developed.
  • The model replaces unknown magnetization with equivalent image magnet distributions, simplifying calculations.
  • Complex Halbach PMA geometries were approximated using cuboid-element segmentation for efficient computation.

Main Results:

  • The proposed MoI-based method achieves accuracy comparable to FEM.
  • Computation time is reduced by several orders of magnitude compared to FEM.
  • Experimental validation confirmed reliable force estimation across varying air gaps.

Conclusions:

  • The developed framework provides a computationally efficient and accurate solution for real-time magnetic adhesion force estimation.
  • This advancement supports the development of advanced air-gap-adjustable wall-climbing robots.
  • The method effectively handles the complexities of Halbach PMAs and ferromagnetic surfaces.