Chapter 10

Magnetic mobile microrobots for mechanobiology and automated biomanipulation

Wuming Jing; Sagar Chowdhury; David Cappelleri    Purdue University, West Lafayette, IN, United States


This chapter presents our recent efforts on developing a micro-force sensing mobile microrobot (μFSMM). The design consists of a planar, vision based micro-force sensor end-effector attached to a magnetic microrobot body. The body is made of chemically etched nickel and is driven by an exterior magnetic field. With a known stiffness, the manipulation forces can be determined from observing the deformation of the end-effector through a camera attached to an optical microscope. After analyzing and calibrating the stiffness of a micromachined ...

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