Absolutely, and NASA is currently investigating this. There is the idea of magnetoshell aerocapture[0][1], which is to create a shell of magnetized plasma around the spacecraft which can be used to slow down the atmosphere. There are a couple reasons why this is attractive. For one, you can modulate the size of the magnetized plasma shell and how much drag you make. Aerocapture, that is getting into orbit via dissipating momentum with planetary atmosphere, is a very risky maneuver because things like solar flares can change the height of the atmosphere causing there to be too much(crashing into the planet) or too little drag(flying off into space). Being able to change the size of the shell fixes this problem. The other is that this scales better than traditional aerocapture methods. The authors show in [0] how this could enable 2 tons of asteroid to be delivered to earth orbit, faster delivery of payloads to Mars orbit, and more economical delivery of payloads to orbit around outer planets like Neptune. There's a lot of promise for this technology and it's currently being developed for a cubesat demonstration mission[2].
This does not harvest any energy though, however, a separate NASA project did investigate the feasibility of generating power and capturing Mars' CO2 atmosphere to make O2 oxidizer through aerocapture[3]
This does not harvest any energy though, however, a separate NASA project did investigate the feasibility of generating power and capturing Mars' CO2 atmosphere to make O2 oxidizer through aerocapture[3]
[0]https://iepc2017.org/sites/default/files/speaker-papers/iepc... [1]https://www.nasa.gov/sites/default/files/files/Kirtley_2012_... [2]https://www.geekwire.com/2017/uw-team-wins-nasas-nod-small-s... [3]https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/201700...