Publications

Journal Articles
  1. Palanichamy, V., Gupta, S., Seyedan, R., & Onaizah, O. (2026). Magnetic Actuation Platform for Navigation of a Swallowable Robotic Capsule. IEEE Transactions on Medical Robotics and Bionics. Invited Paper.
  2. Gupta, S., Abu-Shaera, R., Palanichamy, V., & Onaizah, O. (2026). Magnetically actuated robotic capsule for precision locomotion and sampling in GI environments. Journal of Micro-Bio Robotics 22, 4. https://doi.org/10.1007/s12213-026-00203-z. Invited Paper.
  3. Xie, S., Clancy, K., & Onaizah, O. (2026). Automated 3D printing of programmable and functional magnetic soft microrobots. Journal of Micro-Bio Robotics 22, 5. https://doi.org/10.1007/s12213-026-00202-0. Invited Paper.
  4. Clancy, K., Xie, S., & Onaizah, O. (2025). Advances in 3D Printing Technologies for Fabricating Magnetic Soft Microrobots. Advanced Intelligent Systems. https://doi.org/10.1002/aisy.202500051.
  5. Francescon, V., Murasovs, N., Lloyd, Onaizah, O., Chathuranga, D. S., & Valdastri, P. (2025). Closed-Loop Shape-Forming Control of a Magnetic Soft Continuum Robot. IEEE Robotics and Automation Letters. https://doi.org/10.1109/LRA.2025.3565124.
  6. Sholdice, J., Clancy, K., Teresinska, K., Castro, C., Watson, L. and Onaizah, O. (2025), Automated Fabrication of 3D Printed Magnetic Soft Robots With Programmable 3D Magnetizations. Advanced Robotics Research 202400005.  https://doi.org/10.1002/adrr.202400005
  7. Murasovs, N., Francescon, V., Lloyd, P., Lecce, M. di, Chathuranga, D. S., Pittiglio, G., Onaizah, O., Chandler, J. H., & Valdastri, P. (2024). Breathing Compensation in Magnetic Robotic Bronchoscopy via Shape Forming. IEEE Robotics and Automation Letters. https://doi.org/10.1109/LRA.2024.3426385
  8. Lloyd, P., Onaizah, O., Pittiglio, G., Vithanage, D. K., Chandler, J. H., & Valdastri, P. (2022). Magnetic Soft Continuum Robots With Braided Reinforcement. IEEE Robotics and Automation Letters. https://doi.org/10.1109/lra.2022.3191552
  9. Pittiglio, G., Lloyd, P., da Veiga, T., Onaizah, O., Pompili, C., Chandler, J. H., & Valdastri, P. (2022). Patient-Specific Magnetic Catheters for Atraumatic Autonomous Endoscopy. Soft Robotics. https://doi.org/10.1089/soro.2021.0090
  10. Lecce, M. di, Onaizah, O., Lloyd, P., Chandler, J. H., & Valdastri, P. (2022). Evolutionary Inverse Material Identification: Bespoke Characterization of Soft Materials Using a Metaheuristic Algorithm. Frontiers in Robotics and AI, 8. https://doi.org/10.3389/frobt.2021.790571
  11. Lloyd, P., Koszowska, Z., Lecce, M. di, Onaizah, O., Chandler, J. H., & Valdastri, P. (2021). Feasibility of Fiber Reinforcement Within Magnetically Actuated Soft Continuum Robots. Frontiers in Robotics and AI, 8. https://doi.org/10.3389/frobt.2021.715662
  12. Onaizah, O., Koszowska, Z., Winters, C., Subramanian, V., Jayne, D., Arezzo, A., Obstein, K. L., & Valdastri, P. (2021). Guidelines for Robotic Flexible Endoscopy at the Time of COVID-19. Frontiers in Robotics and AI, 8. https://doi.org/10.3389/frobt.2021.612852
  13. Onaizah, O., Xu, L., Middleton, K., You, L., & Diller, E. (2020). Local stimulation of osteocytes using a magnetically actuated oscillating beam. PLOS ONE, 15(6), e0235366. https://doi.org/10.1371/journal.pone.0235366
  14. Xu, T., Zhang, J., Salehizadeh, M., Onaizah, O., & Diller, E. (2019). Millimeter-scale flexible robots with programmable three-dimensional magnetization and motions. Science Robotics, 4(29), eaav4494. https://doi.org/10.1126/scirobotics.aav4494
  15. Forbrigger, C., Lim, A., Onaizah, O., Salmanipour, S., Looi, T., Drake, J., & Diller, E. D. (2019). Cable-Less, Magnetically Driven Forceps for Minimally Invasive Surgery. IEEE Robotics and Automation Letters, 4(2), 1202–1207. https://doi.org/10.1109/lra.2019.2894504
  16. Zhang, J., Onaizah, O., Sadri, A., & Diller, E. (2017). A generic label-free microfluidic microobject sorter using a magnetic elastic diverter. Biomedical Microdevices, 19(2). https://doi.org/10.1007/s10544-017-0183-2
  17. Zhang, J., Onaizah, O., Middleton, K., You, L., & Diller, E. (2017). Reliable Grasping of Three-Dimensional Untethered Mobile Magnetic Microgripper for Autonomous Pick-and-Place. IEEE Robotics and Automation Letters, 2(2), 835–840. https://doi.org/10.1109/lra.2017.2657879
  18. Onaizah, O., Poepping, T. L., & Zamir, M. (2017). A model of blood supply to the brain via the carotid arteries: Effects of obstructive vs. sclerotic changes. Medical Engineering & Physics, 49, 121–130. https://doi.org/10.1016/j.medengphy.2017.08.009
Refereed Conference Proceedings
  1. S. Aslanidis*, G. Smith*, B. Van der woerd, S. Khalife, O. Onaizah (2026). Hot Snare Enabled Magnetic Soft Continuum Robot for Nasal Polyp Resection. IEEE International Conference on Manipulation, Automation and Robotics at Small Scales. Accepted.
  2. K. D’Sena, L. Scanga, A. Agostini, L. Fitzhenry, O. Onaizah (2026). LeviTask: Acoustic Levitation for Contactless Manipulation of Micro-Devices. IEEE International Conference on Manipulation, Automation and Robotics at Small Scales. Accepted.
  3. M. Liu, K. Clancy, O. Onaizah (2026). Optimizing Machine Code for Multimaterial Printing of Magnetic Small Scale Robots. IEEE International Conference on Manipulation, Automation and Robotics at Small Scales. Accepted.
  4. Xie, S., & Onaizah, O. (2026). Programmable Soft Magnetic Microrotors for Active Flow Manipulation. IEEE International Conference on Manipulation, Automation and Robotics at Small Scales. Accepted.
  5. Siracusa, M., Xie, S., Gleason C., Van der woerd, B., Khalife, S.,  & Onaizah, O. (2026). Experimental Evaluation of a Magnetically Actuated Microdrill for Biomedical Applications. IEEE Engineering in Medicine and Biology Society. Accepted.
  6. Gupta, S., Palanichamy, V., & Onaizah, O. (2025, July). Magnetically Actuated Capsule Mechanism for Drug Delivery, Sampling and Cargo Transport in the Gastrointestinal Tract. International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), West Lafayette, IN, USA, 2025, pp. 01-08, https://doi.org/10.1109/MARSS65887.2025.11072784, PDF.
    Best Student Paper Award.
  7. Xie, S., Clancy, K., & Onaizah, O. (2025, July). High-Fidelity 3D Printing of Programmable Magnetic Soft Robots. International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), West Lafayette, IN, USA, 2025, pp. 1-6,  https://doi.org/10.1109/MARSS65887.2025.11072796, PDF.
    Nominated for Best Application Paper Award.
  8. Francescon, V., Murasovs, N., Lloyd, Onaizah, O., Vithanage, D. K., & Valdastri, P. (2025, June). Closed-Loop Shape Control of a Magnetic Soft Continuum Robot. Hamlyn Symposium on Medical Robotics.
  9. Gupta, S., & Onaizah, O. (2025, June). Magnetically Actuated Capsule for Targeted Drug Delivery. Hamlyn Symposium on Medical Robotics.
  10. Clancy, K., Xie, S., Smith, G., & Onaizah, O. (2025, May). Automated Fabrication of Magnetic Soft Microrobots. Proceedings of the Canadian Society for Mechanical Engineering International Congress. https://doi.org/10.82417/81et-s092.
    Best Student Paper Award (1st place).
  11. Palanichamy, V., Saad, H., Giamou, M., & Onaizah, O. (2025, May). OMASTAR Optimal Magnetic Actuation System Arrangement. International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, 2025, pp. 9095-9101,  https://doi.org/10.1109/ICRA55743.2025.11128287, PDF
  12. Norouziani, F., Palanichamy, V., Gupta, S., & Onaizah, O. (2024, July). Genetic Algorithm to Optimize Design of Micro-Surgical Scissors. International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS). https://doi.org/10.48550/arXiv.2407.15243
  13. Veiga, T. da, Chandler, J. H., Pittiglio, G., Lloyd, P., Holdar, M., Onaizah, O., Alazmani, A., & Valdastri, P. (2021, April). Material Characterization for Magnetic Soft Robots. IEEE 4th International Conference on Soft Robotics (RoboSoft). https://doi.org/10.1109/robosoft51838.2021.9479189
  14. Onaizah, O., & Diller, E. (2019, May). Tetherless Mobile Micro-Surgical Scissors Using Magnetic Actuation. International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra.2019.8793564
  15. Lim, A., and S Salmanipour, Onaizah, O., Forbrigger, C., Looi, T., Drake, J. M., & Diller, E. (2018, June). A Miniature Wirelessly Actuated Magnetic Surgical Tool for Minimally Invasive Grasping. The Hamlyn Symposium on Medical Robotics. https://doi.org/10.31256/hsmr2018.6
  16. Onaizah, O., Poepping, T. L., & Zamir, M. (2015). Obstructive and Sclerotic Disorders affecting Carotid Blood Flow to the Brain. In IFMBE Proceedings (pp. 1739–1742). Springer International Publishing. https://doi.org/10.1007/978-3-319-19387-8_422
  17. Onaizah, O., Poepping, T. L., & Zamir, M. (2015) Lumped Parameter Model of Flow through the Carotid Bifurcation. Canadian Congress of Applied Mechanics Proceedings. 25: 181-184.
  18. Poepping, T.L., DiCarlo, A., Onaizah, O., & Zamir, M. (2015) Evaluating Flow Disturbances in the Carotid Bifurcation. Canadian Congress of Applied Mechanics Proceedings. 25: 188-191.