An Overview on Gripping Force Measurement at the Micro and Nano-Scales Using Two-Fingered Microrobotic Systems

Régnier, Stéphane

doi:10.5772/57571

Cited by 22 publications

(7 citation statements)

References 69 publications

(118 reference statements)

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“…This must be followed with certain trade-offs in design and operation of such micromanipulation devices. Different aspects such as gripping force [50,51], particle release [52], and the effective design parameters [53,54], were focused in the literature.…”

Section: Actuators With Conventional and Modified Shapesmentioning

confidence: 99%

Review of Electrothermal Actuators and Applications

2019

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This paper presents a review of electrothermal micro-actuators and applications. Electrothermal micro-actuators have been a significant research interest over the last two decades, and many different designs and applications have been investigated. The electrothermal actuation method offers several advantages when compared with the other types of actuation approaches based on electrostatic and piezoelectric principles. The electrothermal method offers flexibility in the choice of materials, low-cost fabrication, and large displacement capabilities. The three main configurations of electrothermal actuators are discussed: hot-and-cold-arm, chevron, and bimorph types as well as a few other unconventional actuation approaches. Within each type, trends are outlined from the basic concept and design modifications to applications which have been investigated in order to enhance the performance or to overcome the limitations of the previous designs. It provides a grasp of the actuation methodology, design, and fabrication, and the related performance and applications in cell manipulation, micro assembly, and mechanical testing of nanomaterials, Radio Frequency (RF) switches, and optical Micro-Electro-Mechanical Systems (MEMS).

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Section: Actuators With Conventional and Modified Shapesmentioning

confidence: 99%

Review of Electrothermal Actuators and Applications

2019

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“…Indeed sensors that have the necessary performances in term of bandwidth, resolution and precision such as those based on capacitive sensors 5 are not embeddable and could not be used in real-time tasks situation. On the other hand, embeddable sensors like strain gage 6 do not often have the required performances, for instance in term of range or precision. It is also possible to equip a piezoelectric cantilevered actuator with an end-eector that has a force measurement feature, such as that presented in 7,8 .…”

Section: Introductionmentioning

confidence: 99%

Force estimation in a 2-DoF piezoelectric actuator by using the inverse-dynamics based unknown input observer technique

2015

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The aim of this paper is the estimation of force in a two degrees of freedom (2-DoF) piezoelectric actuator devoted to microrobotic manipulation tasks. Due to the limited space and to the small sizes of the actuator, the use of external sensors to measure both the displacement and the force played into role during the tasks are impossible. Therefore the deal in this study consists to propose observer techniques to bypass the use of force sensors. Based on the unknown input observer (UIO) technique, force along the two directions (y and z axes) of the actuator can be estimated precisely and with convenient dynamics. Additionally to the force, the state vector of the actuator is also estimated. Experimental tests are carried out and demonstrate the eectiveness of the method.

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“…These techniques are based on the contact between the micro-object and the gripper without force-feedback control. In the biomedical field, force-feedback control is an important research topic for gripping fragile biological cells because they are easily damaged by excessive gripping forces [8,9]. Although many studies have been conducted on the manipulation of cubic and spherical components less than 1 mm in size, studies are still needed on the manipulation of complexshaped and fragile objects less than 1 mm in size to expand the feasibility of micro-electro-mechanical systems (MEMS) devices and soft robots [10].…”

Section: Introductionmentioning

confidence: 99%

Double-Nozzle Capillary Force Gripper for Cubical, Triangular Prismatic, and Helical 1-mm-Sized-Objects

Tanaka

Ito

Nishiyama

et al. 2022

IEEE Robot. Autom. Lett.

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In this paper, we describe a novel capillary force gripper with two nozzles for the manipulation of complex-shaped micro-objects. These nozzles rapidly form constant-volume droplets and have two primary functions: fast water refilling by capillary action and fast droplet formation by the on-off control of a diaphragm pump. Capillary force is a dominant microscopic force acting on objects of all shapes owing to the fluidity of water. Therefore, it is suitable for the capture and release of heterogeneous and complex-shaped micro-objects. In the experiments, we picked and placed 1-mm cubes, triangular prisms, and helical micro springs. The positioning errors ±SD for each shape were 54 ± 36 μm, 85 ± 32 μm, and 162 ± 74 μm, respectively. These prisms and springs are difficult to control using conventional air nozzles, which have a typical positioning accuracy of approximately ± 40 μm for rectangular prismatic objects. In addition, by setting the distance between the nozzles to an appropriate value, we reduced the deviation of the attitude angle around the vertical axis to ±2.6° using self-alignment phenomena for the 1-mm cubes. The proposed method is feasible for manipulating complex-shaped and fragile micro-objects in the micro-electro-mechanical systems field.

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An Overview on Gripping Force Measurement at the Micro and Nano-Scales Using Two-Fingered Microrobotic Systems

Cited by 22 publications

References 69 publications

Review of Electrothermal Actuators and Applications

Review of Electrothermal Actuators and Applications

Force estimation in a 2-DoF piezoelectric actuator by using the inverse-dynamics based unknown input observer technique

Double-Nozzle Capillary Force Gripper for Cubical, Triangular Prismatic, and Helical 1-mm-Sized-Objects

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