Robotics 2014, 3(2), 106-119; doi:10.3390/robotics3020106
Article

A Magnetic Microrobot with in situ Force Sensing Capabilities

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Received: 13 January 2014; in revised form: 23 March 2014 / Accepted: 27 March 2014 / Published: 8 April 2014
(This article belongs to the Special Issue The Frontiers of Micro and Nanorobotic Systems)
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract: This paper presents a proof-of-concept prototype of a micro force sensing mobile microrobot. The design consists of a planar, elastic mechanism serving as computer vision-based force sensor module, while the microrobot body is made from a magnetic layer driven by a magnetic field. From observing the deformation of the elastic mechanism, manipulation forces can be determined. The deformation is tracked by a CCD camera attached to an optical microscope. This design is validated through experimental tests with a micromachined prototype. The preliminary results verify this first microrobot prototype is indeed capable of in situ force sensing. This concept can be scaled down further for next generation designs and can be designed for real biomedical applications on microscale.
Keywords: vision-based force sensing; PDMS compliant mechanism; magnetic mobile microrobot
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MDPI and ACS Style

Jing, W.; Cappelleri, D. A Magnetic Microrobot with in situ Force Sensing Capabilities. Robotics 2014, 3, 106-119.

AMA Style

Jing W, Cappelleri D. A Magnetic Microrobot with in situ Force Sensing Capabilities. Robotics. 2014; 3(2):106-119.

Chicago/Turabian Style

Jing, Wuming; Cappelleri, David. 2014. "A Magnetic Microrobot with in situ Force Sensing Capabilities." Robotics 3, no. 2: 106-119.

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