Magnetic Levitation for Soft-Tethered Capsule Colonoscopy Actuated With a Single Permanent Magnet: A Dynamic Control Approach.
Giovanni PittiglioLavinia BarducciJames W. MartinJoseph C. NortonCarlo Alberto AvizzanoKeith L. ObsteinPietro ValdastriPublished in: IEEE Robotics Autom. Lett. (2019)