Abstract
In this modern world, with the increase of complexity of many technologies, especially in the micro and nanoscale, the field of robotic manipulation has tremendously grown. Microrobots and other complex microscale systems are often to laborious to fabricate using standard microfabrication techniques, therefore there is a trend towards fabricating them in parts then assembling them together, mainly using micromanipulation tools. Here, a comprehensive and robust micromanipulation platform is presented, in which four micromanipulators can be used simultaneously to perform complex tasks, providing the user with an intuitive environment. The system utilizes a vision-based force sensor to aid with manipulation tasks and it provides a safe environment for biomanipulation. Lastly, virtual reality (VR) was incorporated into the system, allowing the user to control the probes from a more intuitive standpoint and providing an immersive platform for the future of micromanipulation.
Highlights
Introduction with ForceSensing and virtual reality (VR)Micromanipulation has gained a lot interest in recent years, especially due to an increasing demand for systems capable of reliable and accurate micropositioning and sensing [1,2]
The micromanipulation field can be divided into two main categories: tethered and untethered systems
The current VR capabilities are provided as a proof-of-concept for future generations of the system
Summary
Introduction with ForceSensing and VRMicromanipulation has gained a lot interest in recent years, especially due to an increasing demand for systems capable of reliable and accurate micropositioning and sensing [1,2]. With the development of the micromanipulation field, it is trending towards more complex systems with multiple functionalities, such as sensing and grasping. This can be achieved through the development of specialized end-effectors and the increase of controllable elements in the system, utilizing different end-effectors in conjunction to achieve more complex tasks. The manipulation end-effector is attached mechanically to the actuation element, typically DC or stepper motors. The range of applications is slightly reduced in untethered systems since sometimes the actuation field can interfere with the material being manipulated, causing undesired results. A high resolution, 3 DOF micromanipulators are used in conjunction with several end-effectors, tackling several different possible applications
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