Distributed force control for microrobot manipulation via planar multi-spot optical tweezer
File(s)
Published version
Author(s)
Zhang, Dandan
Barbot, Antoine
Lo, Benny
Yang, Guang-Zhong
Type
Journal Article
Abstract
Optical tweezers (OT) represent a versatile tool for micro‐manipulation. To avoid damages to living cells caused by illuminating laser directly on them, microrobots controlled by OT can be used for manipulation of cells or living organisms in microscopic scale. Translation and planar rotation motion of microrobots can be realized by using a multi‐spot planar OT. However, out‐of‐plane manipulation of microrobots is difficult to achieve with a planar OT. This paper presents a distributed manipulation scheme based on multiple laser spots, which can control the out‐of‐plane pose of a microrobot along multiple axes. Different microrobot designs have been investigated and fabricated for experimental validation. The main contributions of this paper include: i) development of a generic model for the structure design of microrobots which enables multi‐dimensional (6D) control via conventional multi‐spot OT; ii) introduction of the distributed force control for microrobot manipulation based on characteristic distance and power intensity distribution. Experiments are performed to demonstrate the effectiveness of the proposed method and its potential applications, which include indirect manipulation of micro‐objects.
Date Issued
2020-08-20
Date Acceptance
2020-07-30
Citation
Advanced Optical Materials, 2020, 8 (21), pp.1-15
ISSN
2195-1071
Publisher
Wiley
Start Page
1
End Page
15
Journal / Book Title
Advanced Optical Materials
Volume
8
Issue
21
Copyright Statement
© 2020 The Authors. Published by Wiley‐VCH GmbH
This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.
This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.
License URL
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000561012300001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Subjects
Science & Technology
Technology
Physical Sciences
Materials Science, Multidisciplinary
Optics
Materials Science
micro-manipulation
microrobotics
motion control
optical tweezers
BIOLOGICAL CELLS
ACTUATION
ROTATION
Publication Status
Published
Article Number
ARTN 2000543
Date Publish Online
2020-08-20