Polymer micro-grippers with an integrated force sensor for biological manipulation

Mackay, Ruth; Le, Huirong; Clark, Samuel Kelly; Williams, John A.

doi:10.1088/0960-1317/23/1/015005

Cited by 14 publications

(9 citation statements)

References 21 publications

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“…In [88], a polymer made from SU-8 was used to build microgrippers. It included tensile force sensors and were actuated by using an electro-thermal effect.…”

Section: Micro and Nano Grippersmentioning

confidence: 99%

State of the Art Robotic Grippers and Applications

et al. 2016

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Abstract:In this paper, we present a recent survey on robotic grippers. In many cases, modern grippers outperform their older counterparts which are now stronger, more repeatable, and faster. Technological advancements have also attributed to the development of gripping various objects. This includes soft fabrics, microelectromechanical systems, and synthetic sheets. In addition, newer materials are being used to improve functionality of grippers, which include piezoelectric, shape memory alloys, smart fluids, carbon fiber, and many more. This paper covers the very first robotic gripper to the newest developments in grasping methods. Unlike other survey papers, we focus on the applications of robotic grippers in industrial, medical, for fragile objects and soft fabrics grippers. We report on new advancements on grasping mechanisms and discuss their behavior for different purposes. Finally, we present the future trends of grippers in terms of flexibility and performance and their vital applications in emerging areas of robotic surgery, industrial assembly, space exploration, and micromanipulation. These advancements will provide a future outlook on the new trends in robotic grippers.

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“…In [88], a polymer made from SU-8 was used to build microgrippers. It included tensile force sensors and were actuated by using an electro-thermal effect.…”

Section: Micro and Nano Grippersmentioning

confidence: 99%

State of the Art Robotic Grippers and Applications

et al. 2016

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“…It should be noted that, compared to electrothermally-activated grippers [4][5][6][7], thermal control in this paper cannot result in any motion of two jaws due to the symmetry of the jaw mechanism; additionally, the jaws always have parallel motion, regardless of the presence or absence of imposing heat, which can eliminate the slippery force on the object. …”

Section: Prototype Fabrication and Testingmentioning

confidence: 99%

“…Using the electrothermal properties of materials to actuate micro-grippers in MEMS (micro-electromechanical systems) has been reported in [4][5][6] for biological manipulations, where the motion of two jaws is actively controlled by the thermal deformation of the functional material (polymer with very high thermal expansion coefficient). Electrothermal control-based shape memory alloy actuators were also proposed for force tracking control of a flexible gripper in [7].…”

Section: Introductionmentioning

confidence: 99%

Feasibility Study of a Gripper with Thermally Controlled Stiffness of Compliant Jaws

Hao

Riza

2016

Applied Sciences

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This paper proposes a simple and compact compliant gripper, whose gripping stiffness can be thermally controlled to accommodate the actuation inaccuracy to avoid or reduce the risk of breaking objects. The principle of reducing jaw stiffness is that thermal change can cause an initial internal compressive force along each compliant beam. A prototype is fabricated with physical testing to verify the feasibility. It has been shown that when a voltage is applied, the gripping stiffness effectively reduces to accommodate more inaccuracy of actuation, which allows delicate or small-scale objects to be gripped.

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“…where ε c is the strain inside the strain gages after adding cavities (shown in Figure 1-b) and c is a constant which adds the effect of adding the cavities and ε is the strain given in (1). Using [26], c is bigger than 1 (c > 1) and its value will be determined in section 3.…”

Section: Cantilever With Bulk Strain Gages and With Two Cavitiesmentioning

confidence: 99%

Prototyping of a highly performant and integrated piezoresistive force sensor for microscale applications

Komati

Agnus

Clevy

et al. 2014

J. Micromech. Microeng.

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In this paper, the prototyping of a new piezoresistive microforce sensor is presented. An original design taking advantage on both mechanical and bulk piezoresistive properties of silicon is presented and enables to easily fabricate a very small, large range, high sensitivity with high integration potential sensor. The sensor is made of two silicon strain gages for which widespread and known microfabrication processes are used. The strain gages present a high gage factor which allow a good sensitivity of this force sensor. The dimensions of this sensor are 700µm in length, 100µm in width and 12µm in thickness. These dimensions make its use convenient with many microscale applications notably its integration in a microgripper. The fabricated sensor is calibrated using an industrial force sensor. The design, microfabrication process, and performances of the fabricated piezoresistive force sensor are innovative thanks to its resolution of 100nN and its measurement range of 2mN. This force sensor presents also a high signal to noise ratio, typically 50dB when a 2mN force is applied at the tip of the force sensor.

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Polymer micro-grippers with an integrated force sensor for biological manipulation

Cited by 14 publications

References 21 publications

State of the Art Robotic Grippers and Applications

State of the Art Robotic Grippers and Applications

Feasibility Study of a Gripper with Thermally Controlled Stiffness of Compliant Jaws

Prototyping of a highly performant and integrated piezoresistive force sensor for microscale applications

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