Contact-less Manipulation of Millimeter-scale Objects via Ultrasonic Levitation

Nakahara, Jared; Yang, Boling; Smith, Joshua R.

doi:10.1109/biorob49111.2020.9224384

Cited by 12 publications

(19 citation statements)

References 52 publications

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“…Such a dynamic field enables real-time spatial manoeuvering of acoustic traps based on frequency modulation [38], phase modulation [39] or a combination of both [41]. The most ubiquitous of these systems are the ultrasonic phased arrays which can levitate and manoeuvre trapped agents across different focal points by varying phase difference between the transducers [31,34,45]. In terms of their configuration, the transducer arrays can be single-sided or double-sided, with planar or spherical morphology of transducer distribution.…”

Section: Passive Agents and Actuation Strategiesmentioning

confidence: 99%

Contactless acoustic micro/nano manipulation: a paradigm for next generation applications in life sciences

2020

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Acoustic actuation techniques offer a promising tool for contactless manipulation of both synthetic and biological micro/nano agents that encompass different length scales. The traditional usage of sound waves has steadily progressed from mid-air manipulation of salt grains to sophisticated techniques that employ nanoparticle flow in microfluidic networks. State-of-the-art in microfabrication and instrumentation have further expanded the outreach of these actuation techniques to autonomous propulsion of micro-agents. In this review article, we provide a universal perspective of the known acoustic micromanipulation technologies in terms of their applications and governing physics. Hereby, we survey these technologies and classify them with regards to passive and active manipulation of agents. These manipulation methods account for both intelligent devices adept at dexterous non-contact handling of micro-agents, and acoustically induced mechanisms for self-propulsion of micro-robots. Moreover, owing to the clinical compliance of ultrasound, we provide future considerations of acoustic manipulation techniques to be fruitfully employed in biological applications that range from label-free drug testing to minimally invasive clinical interventions.

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Section: Passive Agents and Actuation Strategiesmentioning

confidence: 99%

Contactless acoustic micro/nano manipulation: a paradigm for next generation applications in life sciences

2020

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“…However, the transport range is limited to the range of the acoustic field. To increase this range, the device that generates the acoustic field can be mounted to a robot arm as a gripper, as shown in Figures 1 and 2 [22]. .…”

Section: Introductionmentioning

confidence: 99%

Contactless Picking of Objects Using an Acoustic Gripper

et al. 2021

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Acoustic levitation forces can be used to manipulate small objects and liquids without mechanical contact or contamination. This work presents analytical models based on which concepts for the controlled insertion of objects into the acoustic field are developed. This is essential for the use of acoustic levitators as contactless robotic grippers. Three prototypes of such grippers are implemented and used to experimentally verify the lifting of objects into an acoustic pressure field. Lifting of high-density objects (ρ > 7 g/cm3) from acoustically transparent surfaces is demonstrated using a double-sided acoustic gripper that generates standing acoustic waves with dynamically adjustable acoustic power. A combination of multiple acoustic traps is used to lift lower density objects (ρ≤0.25g/cm3) from acoustically reflective surfaces using a single-sided arrangement. Furthermore, a method that uses standing acoustic waves and thin reflectors to lift medium-density objects (ρ≤1g/cm3) from acoustically reflective surfaces is presented. The provided results open up new possibilities for using acoustic levitation in robotic grippers, which has the potential to be applied in a variety of industrial use cases.

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“…However, the transport range is limited to the range of the acoustic field. To increase this range, the device that generates the acoustic field can be mounted to a robot arm to form a gripper, as shown in Figures 1 and 2 [16].…”

Section: Introductionmentioning

confidence: 99%

Automated Insertion of Objects Into an Acoustic Robotic Gripper

Rothlisberger

Schuck

Kulmer

et al. 2020

The 1st International Electronic Conference on Actuator Technology: Materials, Devices and Applications

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Acoustic levitation forces can be used to manipulate small objects and liquid without mechanical contact or contamination. To use acoustic levitation for contactless robotic grippers, automated insertion of objects into the acoustic pressure field is necessary. This work presents analytical models based on which concepts for the controlled insertion of objects are developed. Two prototypes of acoustic grippers are implemented and used to experimentally verify the lifting of objects into the acoustic field. Using standing acoustic waves and by dynamically adjusting the acoustic power, the lifting of high-density objects (>7 g/cm3) from acoustically transparent surfaces is demonstrated. Moreover, a combination of different acoustic traps is used to lift lower-density objects from acoustically reflective surfaces. The provided results open up new possibilities for the implementation of acoustic levitation in robotic grippers, which have the potential to be used in a variety of industrial applications.

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Contact-less Manipulation of Millimeter-scale Objects via Ultrasonic Levitation

Cited by 12 publications

References 52 publications

Contactless acoustic micro/nano manipulation: a paradigm for next generation applications in life sciences

Contactless acoustic micro/nano manipulation: a paradigm for next generation applications in life sciences

Contactless Picking of Objects Using an Acoustic Gripper

Automated Insertion of Objects Into an Acoustic Robotic Gripper

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