Force Sensing and Control in Micromanipulation

Abstract

In micromanipulation, the size of the manipulated object is usually much less than 1 mm in a single dimension, in which case gravitational and inertial forces are no longer dominant. This leads to problems (for manipulation through force) that are not evident in the macroworld, and for which the macroworld techniques alone may not be adequate to provide solutions. This paper surveys critical issues and their available solutions related to force control in micromanipulation. It focuses on: 1) techniques for dealing with adhesion forces and 2) methods for force sensing and control.

Vision-Based Haptic Feedback with Physically-Based Model for Telemanipulation

“…Specifying and varying the appropriate force scaling factor has been an issue in micromanipulation (Lu et al, 2006;Menciassi et al, 2004). The scaling factor was experimentally chosen within the maximum applicable force of the haptic device (3.3 N).…”

“…In addition, sufficient reliability and repeatability of the force sensor must be preserved. In particular, micro-scale measurements for biomanipulation are subject to severe disturbances due to the liquid surface tension (e.g., when cells are in a medium) and adhesion forces (Lu et al, 2006;Gauthier & Nourine, 2007). Therefore, new methods capable of avoiding the use of the force sensors have recently become very prevalent.…”

Modelling and optimization of a floating triangular platform used for nano and microforces sensing

“…Generally, micro and nano force sensors use elastic micro structures like micro beam to avoid dry friction [6]. Another way to avoid friction problem, is the use of levitation methods.…”

“…Pure position control is sometimes not suitable to ensure successful operation and prevent damage to the manipulated micro objects. Force control is often needed in order to achieve better manipulation results [6]. Moreover, in some specific applications like biological cells characterization, obtaining force information is a main objective [7] [8].…”

Improvement of strain gauges micro-forces measurement using Kalman optimal filtering

“…This deformation is measured using a position sensor. According to the resolution wanted, various effects can be used (Lu et al, 2006). For measurements below 0.1 µN, piezoelectric materials, in particular PVDF (Polyvinylidene Fluoride) are often used.…”