# Five-degree-of-freedom manipulation of an untethered magnetic device in fluid using a single permanent magnet with application in stomach capsule endoscopy

> Research article (The International Journal of Robotics Research, 2015) · cited 266× · AI/ML

**Wikidata**: [openalex:W1993086849](https://www.wikidata.org/wiki/openalex:W1993086849)  
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