Haptic controlled three-axis MEMS gripper system

Vijayasai, Ashwin; Sivakumar, G.; Mulsow, Matthew; Lacouture, Shelby; Holness, Alex; Dallas, Tim

doi:10.1063/1.3499243

Cited by 14 publications

(7 citation statements)

References 13 publications

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“…In addition, although the average contractile forces were from 42.7 to 79.6 µN, which seems small, with proper strategies (consider the use of light material and driving algorithm) of body material selection, structure design, and control [2,39,40], the bio-actuator can be used to handle small delicate objects.…”

Section: Measurement Of DV Contractile Forcementioning

confidence: 99%

Insect Muscular Tissue-Powered Swimming Robot

et al. 2019

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Bio-actuators that use insect muscular tissue have attracted attention from researchers worldwide because of their small size, self-motive property, self-repairer ability, robustness, and the need for less environment management than mammalian cells. To demonstrate the potential of insect muscular tissue for use as bio-actuators, three types of these robots, a pillar actuator, a walker, and a twizzer, have been designed and fabricated. However, a model of an insect muscular tissue-powered swimming robot that is able to float and swim in a solution has not yet been reported. Therefore, in this paper, we present a prototype of an insect muscular tissue-powered autonomous micro swimming robot that operates at room temperature and requires no temperature and pH maintenance. To design a practical robot body that is capable of swimming by using the force of the insect dorsal vessel (DV), we first measured the contraction force of the DV. Then, the body of the swimming robot was designed, and the design was confirmed by a simulation that used the condition of measured contraction force. After that, we fabricated the robot body using polydimethylpolysiloxane (PDMS). The PDMS body was obtained from a mold that was fabricated by a stereo lithography method. Finally, we carefully attached the DV to the PDMS body to complete the assembly of the swimming robot. As a result, we confirmed the micro swimming robot swam autonomously at an average velocity of 11.7 µm/s using spontaneous contractions of the complete insect DV tissue. These results demonstrated that the insect DV has potential for use as a bio-actuator for floating and swimming in solution.2 of 15 considerable attention, and bio-hybrid microdevices (the body structure can be made from polymer) were reported, including a pillar actuator and micro heart pumps [7][8][9][10][11], and different kinds of robots, including walking and swimming robots [12][13][14][15][16][17][18][19].However, these mammalian muscle cells and tissue-integrated devices require precise environmental control to keep the contractile ability of the muscle cells. The culture medium must be replaced often, and the pH and temperature of the medium must be strictly controlled around 7.4 • C and 37 • C, respectively [20,21]. On the other hand, the tissues of insects are generally robust over a much wider range of living conditions compared with those of mammals. Baryshyan et al. [21] and Akiyama et al. [22] selected the insect tissue and the dorsal vessel (DV) as a bio-actuator. The DV is a central pulsating blood vessel located along the back of an insect, and it acts as a heart. This means that the DV autonomously contracts at a constant frequency without any kind of control or stimuli. The DV tissue was used to demonstrate a micro-pillar actuator [22,23], a walking robot [24], and an atmospheric-operable bio-actuator [20], which worked at room temperature for 90 days without medium replacement [23]. In these studies, this kind of actuator was also capable of working at temperatures from 5 to 40 •...

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Section: Measurement Of DV Contractile Forcementioning

confidence: 99%

Insect Muscular Tissue-Powered Swimming Robot

et al. 2019

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“…Very few control solutions are nevertheless provided by the manufacturer. In this work, the designed controller can be applied to any MEMS based microgripper using a comb drive actuator (Yamahata et al [2006]; Beyeler et al [2007]; Muntwyler et al [2010]; Vijayasai et al [2010]) and leads to new perspectives for high precision micro/nano-manipulation tasks.…”

Section: Features Of the Microgrippermentioning

confidence: 99%

An output feedback LPV control strategy of a nonlinear electrostatic microgripper through a singular implicit modeling

Faria¹,

Gorrec²,

Haddab³

et al. 2014

Control Engineering Practice

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The aim of the paper is the design and the analysis of a gain scheduled controller for an accurate and fast positioning with nanometer resolution of a nonlinear electrostatic microgripper. The controller is designed to achieve a positioning of the gripping arm from few hundred nanometers to several tens of micrometers with some performance criteria. This very large operating range is crucial for a range of microrobotics applications and has never been addressed in existing control techniques of microgrippers. The controller is designed considering noises that are relevant at the nanometer scale and nonlinearities that become significant at the micrometer scale. Therefore, a nonlinear model of the system is proposed and is reformulated into a polynomial LPV (Linear Parameter Varying) model. The most relevant source of noise to be considered for the controller synthesis is defined taking into account results from previous works. Considering the particular polynomial parametric dependence of the LPV model, a multivariable controller is designed using an affine LPV descriptor representation of the system and specific linear matrix inequalities. The efficiency of the controller and the relevance of the theoretical approach are demonstrated through experimental implementation results.

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“…Electrostatic comb drive actuators are very common in the development of MEMS-based microgrippers [5]- [7]. They allow a fast positioning of gripping arms over large displacements (several tens of micrometers), they do not produce heating and they have no hysteretic behavior.…”

Section: Introductionmentioning

confidence: 99%

“…In this paper, we focus on the modeling and the robust control of a class of MEMS-based microgrippers using nonlinear comb drive actuators (see examples in [2] and [5]- [7]). The aim is to propose a systematic methodology (from the modeling to the control) aiming at improving, using a low-order controller, the performance of this class of microgrippers considering requirements of microrobotics applications.…”

Section: Introductionmentioning

confidence: 99%

Gain Scheduling Control of a Nonlinear Electrostatic Microgripper: Design by an Eigenstructure Assignment With an Observer-Based Structure

Gorrec

Haddab

Lutz

2015

IEEE Trans. Contr. Syst. Technol.

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This paper deals with the modeling and the robust control of a nonlinear electrostatic microgripper dedicated to embedded microrobotics applications. We first propose a polynomial linear parameter varying model of the system, where the varying parameter is the mean position of the microgripper that is used for the linearization. The controller is then derived using a multimodel and scheduled observer-based control strategy. The structure and the order of the controller are defined a priori allowing the derivation of a robust low-order controller suitable for a real-time implementation in embedded on-chip environments. Results show that a very wide (several tens of micrometers) and fast positioning of the gripping arm can be achieved using the control strategy. A robustness analysis and experimental implementation results show the efficiency of the controller and the relevance of the theoretical approach.Index Terms-Eigenstructure assignment (ESA), microelectromechanical systems (MEMS), microgripper, multimodel, observer-based structure, robustness, worst case analysis.

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Haptic controlled three-axis MEMS gripper system

Cited by 14 publications

References 13 publications

Insect Muscular Tissue-Powered Swimming Robot

Insect Muscular Tissue-Powered Swimming Robot

An output feedback LPV control strategy of a nonlinear electrostatic microgripper through a singular implicit modeling

Gain Scheduling Control of a Nonlinear Electrostatic Microgripper: Design by an Eigenstructure Assignment With an Observer-Based Structure

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