Non-Contact Cooperative Manipulation of Magnetic Microparticles Using Two Robotic Electromagnetic Needles

Abstract

In this paper, we report a cooperative manipulation method for non-contact robotic electromagnetic needle manipulation system. We employ two 3 degrees of freedom (DOF) robotic electromagnetic needles to achieve an over-actuated manipulator, which can move the particle to any position in the planar workspace from any direction. The redundant DOFs, combined with an optimization-based control approach, enable the manipulator to achieve accurate path following and avoid the collision of needles. Using visual servoing, the developed controller can achieve line following accuracy of 0.33±0.32 μm, square following accuracy of 0.77±0.55 μm, and circle following accuracy of 0.89±0.66 µm with a 4.5 µm diameter superparamagnetic particle. The manipulator can also manipulate a particle along complex paths such as infinity symbol and letter symbols.

DNA storage in thermoresponsive microcapsules for repeated random multiplexed data access

“…Although FACS has the advantage of fast and selective file retrieval, it results in a considerable loss of encapsulated files and does not allow for the retrieval of a single compartment. As a solution, we envision the magnetic retrieval of single encapsulated files by integrating magnetic, fluorescently labelled proteinosomes with electromagnetic microneedle technology 57 and automated fluorescence microscopy. Similarly, a reduction in the polydispersity of current proteinosome microcapsules by employing a microfluidic 58 production platform would also benefit the retrieval of proteinosome-localized DNA files.…”

Simultaneous and Independent Micromanipulation of Two Identical Particles with Robotic Electromagnetic Needles

“…Seon et al, showed that a single REMN can achieve automatic non-contact manipulation by separating two adjacent particles, selective extraction of particles from a population, and sequential manipulation of four particles [19]. Those capabilities are extended to full plane control in our previous work by employing two cooperative REMNs [20].…”

MagNeed – Needle-Shaped Electromagnets for Localized Actuation Within Compact Workspaces

“…Besides, power consumption is considerably reduced in three orders of magnitude [23], [24]. Studies on miniaturized electromagnets have proposed needle-like electromagnets to perform independent manipulation of magnetic micro-particles [25], [26]. An actuation system based on electromagnetic needles can provide direct access to enclosed regions.…”