This paper reports a feedback-based manoeuvre planning approach for automated nonprehensile selective micromanipulation of large, microscopic biological objects (∼100μm). We employ ferromagnetic micro-particles as microrobots actuated via a global magnetic field produced by electromagnetic coils placed in quadrupole configuration. The microrobot motion is programmed to push the target object to the goal location. We employ a three-step approach comprising: (a) generate a collision-free optimal path between the initial and the commanded goal location, (b) generate a manoeuvre planning algorithm that invokes one of the three motion manoeuvres, namely, ‘approach’, ‘push’, and ‘align’ depending upon the instantaneous locations of the microrobot, target object, and the desired waypoint, and (c) deploy a simple proportional controller that determines the currents required in the electromagnetic coils that can produce a suitable magnetic field for executing the manoeuvre invoked by the manoeuvre planner. This paper reports a number of validation experiments conducted on both zebrafish, i.e., Danio rerio embryos and silica beads as target objects. We envisage that the developed inexpensive approach can be useful in robotic manipulation of biological objects with sizes in hundreds of microns including large biological cells, polyploid giant cancer cells (PGCC), multicellular spheroids, Dictyostelium slug, human oocytes, and autophagy candidates. We also believe that functionalizing the microrobots with living cells or suitable chemicals will make it possible to perform on-chip biological experiments in future.
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