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Distributed force control for microrobot manipulation via planar multi-spot optical tweezer

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Title: Distributed force control for microrobot manipulation via planar multi-spot optical tweezer
Authors: Zhang, D
Barbot, A
Lo, B
Yang, G-Z
Item 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.
Issue Date: 20-Aug-2020
Date of Acceptance: 30-Jul-2020
URI: http://hdl.handle.net/10044/1/88076
DOI: 10.1002/adom.202000543
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.
Keywords: Science & Technology
Technology
Physical Sciences
Materials Science, Multidisciplinary
Optics
Materials Science
micro-manipulation
microrobotics
motion control
optical tweezers
BIOLOGICAL CELLS
ACTUATION
ROTATION
Science & Technology
Technology
Physical Sciences
Materials Science, Multidisciplinary
Optics
Materials Science
micro-manipulation
microrobotics
motion control
optical tweezers
BIOLOGICAL CELLS
ACTUATION
ROTATION
0205 Optical Physics
0906 Electrical and Electronic Engineering
0912 Materials Engineering
Publication Status: Published
Article Number: ARTN 2000543
Online Publication Date: 2020-08-20
Appears in Collections:Department of Surgery and Cancer
Computing
Faculty of Medicine
Institute of Global Health Innovation



This item is licensed under a Creative Commons License Creative Commons