From “Macro” to “Micro” Manipulation: Models and Experiments

Menciassi, Arianna; Eisinberg, A.; Izzo, I.; Dario, P.

doi:10.1109/tmech.2004.828657

Cited by 128 publications

(54 citation statements)

References 27 publications

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“…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).…”

Section: Experiments 2: Cellular Manipulation Systemmentioning

confidence: 99%

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

Kim¹,

Kim²

2010

Cutting Edge Robotics 2010

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Section: Experiments 2: Cellular Manipulation Systemmentioning

confidence: 99%

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

Kim¹,

Kim²

2010

Cutting Edge Robotics 2010

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“…However, the arbitrary changing of tip posture in optimizing coordination during assembly was not performed [26]. To realize the bottom-up assembly of heterogeneous components to a 3D structure, sophisticated, coordinated manipulation as implemented by multi-micro-robots still needs to be addressed [27].…”

Section: Introductionmentioning

confidence: 99%

Micro-Assembly of a Vascular-Like Micro-Channel with Railed Micro-Robot Team-Coordinated Manipulation

Wang

Shi

Yue

et al. 2014

International Journal of Advanced Robotic Systems

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The 3D assembly of cellular structures is important for the fabrication of biological substitutes in tissue engineering. In particular, a micro-channel with a 200 μm diameter is of interest because of its promising ability to construct the vascular network for oxygen and nutrition delivery in thick biological substitutes in the future. In this paper, a novel rail-guided micro-robotteam system is proposed for the micro-assembly of a cellular structure. The cellular two-dimensional (2D) component was fabricated by ultraviolet (UV) illumination of a cross-linkable hydrogel. The modular rail-guided micro-robotic system was set up with multimicromanipulators as the modules and controlled with hybrid motors to achieve an operation resolution of 30 nm. To realize the bottom-up fabrication of the cellular micro-channel, different micro-assembly strategies with multi-manipulators were developed. The microassembly success rate and the efficiency of the different strategies were evaluated based on the assembly of micro-donuts. Through the novel, designed, concentric movement of the multi-manipulators along the rail, arbitrary change of the approaching angle and the coordination posture was achieved to improve the micro-assembly's flexibility. The operation range for every micromanipulator in different coordinated manipulation modes was analysed to avoid the breakdown of the assembled 3D structure. The image processing for the target location and end-effector identification was conducted to improve assembly efficiency in the micro-robot-team system. Finally, the assembly of the cellular vascular-like micro-channel was achieved with coordinated manipulation in the railguided micro-robot-team system.

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“…For most of the nanorobotic systems, the main issue is how to realize the design and integration of the system with both precise control and flexible cooperation [20]. The development of a multi-robotic nanomanipulation system with sophisticated, coordinated manipulation incorporated in it must be addressed for 3D assembly on the nanoscale [21][22].…”

Section: Introductionmentioning

confidence: 99%

Rail-Guided Multi-Robot System for 3D Cellular Hydrogel Assembly with Coordinated Nanomanipulation

Wang

Shi

Nakajima

et al. 2014

International Journal of Advanced Robotic Systems

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The 3D assembly of micro-/nano-building blocks with multi-nanomanipulator coordinated manipulation is one of the central elements of nanomanipulation. A novel rail-guided nanomanipulation system was proposed for the assembly of a cellular vascular-like hydrogel microchannel. The system was equipped with three nanomanipulators and was restricted on the rail in order to realize the arbitrary change of the end-effectors during the assembly. It was set up with hybrid motors to achieve both a large operating space and a 30 nm positional resolution. The 2D components such as the assembly units were fabricated through the encapsulation of cells in the hydrogel. The coordinated manipulation strategies among the multi-nanomanipulators were designed with vision feedback and were demonstrated through the bottom-up assembly of the vascular-like microtube. As a result, the multi-layered microchannel was assembled through the cooperation of the nanomanipulation system.

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From “Macro” to “Micro” Manipulation: Models and Experiments

Cited by 128 publications

References 27 publications

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

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

Micro-Assembly of a Vascular-Like Micro-Channel with Railed Micro-Robot Team-Coordinated Manipulation

Rail-Guided Multi-Robot System for 3D Cellular Hydrogel Assembly with Coordinated Nanomanipulation

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