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![Grab and release trial on 17.3μm\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$17.3 \,\upmu \hbox {m}$$\end{document} silicon microsphere: a moving to grab the sphere, b sphere grabbed, c upon release, object rarely adheres to the left end effector, d most of the time, object adheres to the right end effector](publication/328941199/figure/fig4/AS:963465539756041@1606719493236/Grab-and-release-trial-on-173mmdocumentclass12ptminimal-usepackageamsmath.jpg)
Grab and release trial on 17.3μm\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$17.3 \,\upmu \hbox {m}$$\end{document} silicon microsphere: a moving to grab the sphere, b sphere grabbed, c upon release, object rarely adheres to the left end effector, d most of the time, object adheres to the right end effector
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While methods for analysis of microbial samples exist in microbiology, most take in data at a population level, and cannot account for small variations within groups. Single-cell analysis (SCA) enables access to more detailed information about a culture than common analysis techniques. Techniques for single-cell analysis exist, but are limited in t...
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Citations
... Furthermore, it becomes prohibitively difficult to assemble the components into a functional device. Recognizing these difficulties, the silicon micro-machining process, which was originally developed for the Micro-Electro-Mechanical Systems (MEMS), has been widely used for fabricating micro-grippers with actuatable moving parts [6][7][8][9][10]. As the silicon micro-machining process is mainly limited to fabricate planar structures, the most common micro-gripper designs used in many applications are still the two dimensional (2D) parallel jaw grippers [11]. ...
The emerging trend towards miniaturization of robotic grippers is motivated by the needs for precise manipulation of smaller objects within confined spaces. However, it faces a multitude of challenges in micro-fabricating, assembling, and actuating the grippers with increasingly smaller dimensions. To overcome these challenges, we report here a method to 3D print a magnetically-driven triple-finger micro-gripper for robust micro-manipulation in air and water. Magnetic actuation was chosen for its advantage of untethered operation in complex surroundings. Mitigating the trade-off between mechanical compliance and magnetic actuation forces, the monolithic micro-gripper design comprising compliant mechanical flexures and magnetic force actuation units was rapidly fabricated using micro-continuous liquid interface production (μCLIP) process. Finally, we attached the 3D printed gripper to a robotic arm and demonstrated its ability to manipulate micro objects both air and water. This work may enable potential biological and biomedical applications such as operation of live cells and soft tissues.
This review discusses the transformative impact of micro/nano particle manipulation techniques across scientific and technological disciplines. Emphasizing the pivotal role of precise control at the micro and nanoscale, the paper categorizes manipulation strategies into mechanical/surface force-based, field-control manipulation, and microfluidics manipulation. It addresses challenges specific to the submicrometer scale, highlighting the strengths and limitations of each approach. The unique behaviors exhibited by objects at the micro–nano scale influence the design and operation of manipulators, algorithms, and control systems, particularly in interactions with biological systems. The review covers dielectrophoresis and magnetic manipulation, showcasing their applications in particle manipulation and microfluidics. The evolution of optical tweezers, including holographic, surface plasmon-based, and optical fiber tweezers, is discussed, emphasizing their contributions in various scientific fields. Additionally, the paper also explores the manipulation of micro/nano particle in microfluidic platforms. The comprehensive review underscores the significance of understanding manipulation strategies in diverse environments, anticipating further advancements in science and technology.
This paper proposes the control and dynamic releasing method of a symmetric microgripper with integrated position sensing. The microgripper adopted in this micromanipulation system is constructed by two L-shaped leverage mechanisms and the fingers of the microgripper is machined much thinner than the gripper body. A combined feedforward/feedback position controller is established to improve the motion accuracy of the microgripper in high frequency. The feedforward controller is established based on rate-dependent inverse Prandtl-Ishlinskii (P–I) hysteresis model. The inertial force generated in dynamic based releasing process is analyzed through MATLAB simulation. Open-loop experimental tests have been performed, and the results indicate the first natural frequency of the microgripper is 730 Hz. Then experiments in high frequency based on the developed combined controller are carried out and the results show the tracking error of a superimposed sinusoidal trajectory with the frequency of 100 Hz, 120 Hz and 130 Hz is 6.4%. Finally, the tiny objects releasing experiments are conducted where the combined controller is used to control the motion amplitude and frequency to achieve inertial force controllable to improve operation accuracy. And the results show that the dynamic releasing strategy is effective.
