Adhesion Control for Micro- and Nanomanipulation

Dejeu, Jérôme; Bechelany, Mikhaël; Rougeot, Patrick; Philippe, Laëtitia; Gauthier, Michaël

doi:10.1021/nn200658z

Cited by 33 publications

(31 citation statements)

References 53 publications

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“…When the bead on the cantilever r 1 is approaching, it touches the nanospheres r 2 on a noncontrolled position (i,j). We have shown that the force, function of the Hamaker constant A 12 , is included between a minimum and a maximum which verify [20]:…”

Section: Control Of the Roughness By Nanostructurationsupporting

confidence: 55%

“…In order to obtain a repeatable roughness, the surface is structured with nanospheres placed by self-assembly. The deposition parameters by spin-coating have been already detailed in previous paper [20]. The spheres were selfassembled into a closed pack (Figure 4a), and after Reactive Ion Etching process (RIE), the radius has decreasing and a non-closed PS spheres has obtained (Figure 4b).…”

Section: Control Of the Roughness By Nanostructurationmentioning

confidence: 96%

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Control of adhesion using surface functionalisations for robotic microhandling

Dejeu

Rougeot

Lakard

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Robotic microhandling is a promising way to assemble microcomponents in order to manufacture new generation of Hybrid Micro ElectroMechanical Systems (HMEMS). However, at the scale of several micrometers, adhesion phenomenon highly perturbs the micro-objects release and the positioning. This phenomenon is directly linked to both the object and the gripper surface mechanical and chemical properties. The control of the adhesion properties requires multidisciplinary approaches including roughness control, mechanical properties control and chemical surface functionalisation. We propose to control adhesion by using chemical surface functionalisations by intrinsic conducting polymer electrodeposition or Self-Assembly Monolayer (SAM) and using surface structuration.

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Section: Control Of the Roughness By Nanostructurationsupporting

confidence: 55%

Section: Control Of the Roughness By Nanostructurationmentioning

confidence: 96%

Control of adhesion using surface functionalisations for robotic microhandling

Dejeu

Rougeot

Lakard

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The use of active surfaces regulating adhesion for gripping devices has so far been only explored on the micro/nano scale [3]. Some designs of grippers utilizing belts have been employed in industrial settings but, to the best of our knowledge, no attempt has been made so far to develop a programmatic strategy of utilizing active surfaces during grasp execution.…”

Section: Related Workmentioning

confidence: 99%

“…Active surfaces have been used to regulate the adhesion between fingers and target object [3], or to augment the mechanical structure with conveyor belts to control the tangential push exerted on the target object. Currently, the three most advanced implementations of such grippers are: the Roll-on gripper [4], the Traction gripper [5] and the Velvet Fingers gripper [6], [7], the latter of which was utilized in this work and is depicted in Fig.…”

Section: Introductionmentioning

confidence: 99%

Velvet fingers: Grasp planning and execution for an underactuated gripper with active surfaces

Krug

Stoyanov

Bonilla

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-In this work we tackle the problem of planning grasps for an underactuated gripper which enable it to retrieve target objects from a cluttered environment. Furthermore, we investigate how additional manipulation capabilities of the gripping device, provided by active surfaces on the inside of the fingers, can lead to performance improvement in the grasp execution process. To this end, we employ a simple strategy, in which the target object is 'pulled-in' towards the palm during grasping which results in firm enveloping grasps. We show the effectiveness of the suggested methods by means of experiments conducted in a real-world scenario.

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“…These nanostructurations were built by the EMPA institute, Thun, Switzerland [41], [42] using self-assembly methods. In an application case and also during force measurements, the location of the sphere on the cantilever up to the structured surface cannot be controlled precisely.…”

Section: Impact Of Roughness On Van Der Waals Forcesmentioning

confidence: 99%

Analysis and Specificities of Adhesive Forces Between Microscale and Nanoscale

Gauthier

Alvo

Dejeu

et al. 2013

IEEE Trans. Automat. Sci. Eng.

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-Despite a large number of proofs of concept in nanotechnologies (e.g. nanosensors), nano electromechanical systems (NEMS) hardly come to the market. One of the bottlenecks is the packaging of NEMS which requires handling, positioning, assembling and joining strategies in the mesoscale (from 100nm to 10µm, between nanoscale and microscale). It requires models of the interaction forces and adhesion forces dedicated to this particular scale. This paper presents several characteristics of the mesoscale in comparison with nanoscale and microscale. Firstly, it is shown that the distributions of charges observed on the micro-objects and meso-objects would have negligible effects on the nano-objects. Secondly, the impact of both chemical functionalisation and physical nanostructuration on adhesion are presented. Thirdly, the van der Waals forces is increased by local deformations on the mesoscale contrary to the nanoscale where the deformation is negligible. This article shows some typical characteristics of the mesoscale.Note to Practitioners -Micro and nanorobotics cover a high range from nanometers to micrometers which represents six orders of magnitude. Most of the microassembly activities have been focused on micro-objects whose size is 10 µm or more when nanohandling provides solutions mainly for nano-objects up to 100 nm. The interest in the medium scale (mesoscale) has been growing recently. This article presents an analysis of the behavioral characteristic of the objects on this scale in comparison with the two others. It shows that specificities exist on the mesoscale which show the requirement of original micro-nanorobotics at this particular scale.

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Adhesion Control for Micro- and Nanomanipulation

Cited by 33 publications

References 53 publications

Control of adhesion using surface functionalisations for robotic microhandling

Control of adhesion using surface functionalisations for robotic microhandling

Velvet fingers: Grasp planning and execution for an underactuated gripper with active surfaces

Analysis and Specificities of Adhesive Forces Between Microscale and Nanoscale

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