Enhance In-Hand Dexterous Micromanipulation by Exploiting Adhesion Forces

Abstract

Micromanipulation plays a key role in the development of complex and assembled microsystems. However, current micromanipulation solutions are often limited to small rotation amplitudes and to simple shaped objects (such as cubes). Our approach consists of developing in-hand micromanipulation techniques using dexterous microhands to manipulate arbitrary shaped objects and to perform large rotations. This paper focuses on the trajectory generation of a dexterous microhand to achieve automated repositioning by taking advantage of adhesion forces. The results on the generated trajectories show that adhesion forces can be exploited to enhance the manipulation possibilities. Moreover, experiments show that planed rotations are performed at more than $\text{95}\%$ using an open-loop control. Dexterous micromanipulation is a promising way to perform complex manipulation tasks in microscale.