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Robotics 2014, 3(2), 106-119;

A Magnetic Microrobot with in situ Force Sensing Capabilities

School of Mechanical Engineering, Purdue University, 585 Pudue Mall, West Lafayette, IN 47907, USA
Author to whom correspondence should be addressed.
Received: 13 January 2014 / Revised: 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)
Full-Text   |   PDF [844 KB, uploaded 8 April 2014]   |  


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. View Full-Text
Keywords: vision-based force sensing; PDMS compliant mechanism; magnetic mobile microrobot vision-based force sensing; PDMS compliant mechanism; magnetic mobile microrobot

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This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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

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