This paper introduces the concept of caging micromanipulation for use in automated open loop microassembly tasks. Utilizing a caging transport motion primitive along with rotational and translation primitives, we demo...
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This paper introduces the concept of caging micromanipulation for use in automated open loop microassembly tasks. Utilizing a caging transport motion primitive along with rotational and translation primitives, we demonstrate full control of the state of the part. Additionally, a framework for planar microassembly task planning is provided based on the A* algorithm. It is used to determine the optimal assembly sequences and part starting locations in the workspace. We also describe a test-bed suitable for planar micro, meso-scale, and nano-scale manipulation and assembly tasks and present simulation and experimental results of this work.
We present the state-of-the-art and future strategies for magnetic materials and functional coatings for biomedical microrobots. Coatings for sensing chemicals and for drug-delivery as well as ways of implementing the...
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We present the state-of-the-art and future strategies for magnetic materials and functional coatings for biomedical microrobots. Coatings for sensing chemicals and for drug-delivery as well as ways of implementing them are being investigated. Two examples related to intraocular microrobots are shown in this work: a luminescence polymer-dye composite coating for the detection of intraocular oxygen; and a conductive polymer coating for drug delivery purposes.
Artificial bacterial flagella (ABF) are swimming microrobots that mimic the swimming motion of bacteria. The helical swimmer consists of an InGaAs/GaAs/Cr helical nanobelt tail fabricated by a self-scrolling technique...
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Artificial bacterial flagella (ABF) are swimming microrobots that mimic the swimming motion of bacteria. The helical swimmer consists of an InGaAs/GaAs/Cr helical nanobelt tail fabricated by a self-scrolling technique with dimensions similar to a natural flagellum, and a thin soft-magnetic metal ¿head¿ consisting of a Cr/Ni/Au multi-layer. The swimming locomotion of ABF is precisely controlled in 3-D by external rotating magnetic fields. Microsphere manipulation is performed by ABF, and experimental results show that both the position and the orientation of microspheres can be precisely controlled. The propelling force of ABF is in the pico-Newton range. We also describe a swarm-like behavior in which three ABF swim in a pack, indicating the potential to handle several micro objects in parallel. Self-propelled devices such as these are candidates for wireless 6-DOF micro and nanomanipulation tools for handling cellular and sub-cellular objects.
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