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A Magnetic Microrobot with in situ Force Sensing Capabilities
AbstractThis 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.
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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.View more citation formats
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.