Managing the attractive magnetic force between an untethered magnetically actuated tool and a rotating permanent magnet. - Arthur W. Mahoney; Samuel E. Wright; Jake J. Abbott (ICRA, 2013)

A spherical-magnet end-effector for robotic magnetic manipulation. - Samuel E. Wright; Arthur W. Mahoney; Katie M. Popek; Jake J. Abbott (ICRA, 2015)

The Spherical-Actuator-Magnet Manipulator: A Permanent-Magnet Robotic End-Effector. - Samuel E. Wright; Arthur W. Mahoney; Katie M. Popek; Jake J. Abbott (IEEE Trans. Robotics, 2017)