The use of untethered miniature swimmers is a promising trend, especially in biomedical applications. These swimmers are often operated remotely using a magnetic field commonly generated using fixed coils that can suffer from a lack of compactness and heating issues. The analysis of the swimming capabilities is still an ongoing topic of research. In this letter, we focus on the ability of a magnetic actuation system to operate the propulsion of miniature swimmers with flexible flagellum. As a first contribution, we present a new manipulability criterion to assess the ability of a magnetic actuation system to operate a swimming robot, i.e. to ensure a displacement in any desired direction with a fixed minimum speed. This criterion is developed thanks to an analogy with cable-driven parallel robots. As a second contribution, this manipulability criterion is exploited to identify the dexterous swimming workspace which can be used to design of new coil configurations as well as to highlight the possibilities of moving coil systems. A case study for a planar workspace surrounded by three coils is in particular carried out. The accompanying video illustrates the application of the proposed criterion in 3D, for a large number of coils.

中文翻译：

---

具有灵活鞭毛的微型游泳者磁致动的可操纵性准则

不受束缚的微型游泳者的使用是一个有希望的趋势，特别是在生物医学应用中。这些游泳者通常使用通常使用固定线圈产生的磁场进行远程操作，固定线圈可能会受到缺乏紧凑性和加热问题的影响。游泳能力的分析仍然是一个持续的研究课题。在这封信中，我们专注于磁性驱动系统操作具有灵活鞭毛的微型游泳者的推进力的能力。作为第一个贡献，我们提出了一个新的可操纵性标准来评估磁驱动系统操作游泳机器人的能力，即确保以固定的最小速度在任何所需方向上的位移。该标准的制定得益于与电缆驱动的并联机器人的类比。作为第二个贡献，这个可操作性标准被用来确定灵巧的游泳工作空间，可用于设计新的线圈配置以及突出移动线圈系统的可能性。特别进行了一个由三个线圈包围的平面工作空间的案例研究。随附的视频说明了建议标准在 3D 中的应用，适用于大量线圈。