SpongeBot: A Soft Magnetic Mini-Robot for Controlled Gastric Cell Sampling *. - Jiyuan Tian; Nidhi Chhaparwal; Moonkwang Jeong; Yue Gao; Ann-Sophia Müller; Meng Zhang; Katharina Bosch; Karol Nowicki-Osuch; Tian Qiu (IROS, 2025)