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Untethered Magnetic Micromanipulation


Book Chapter


This chapter discusses the methods and state of the art in microscale manipulation in remote environments using untethered microrobotic devices. It focuses on manipulation at the size scale of tens to hundreds of microns, where small size leads to a dominance of microscale physical effects and challenges in fabrication and actuation. To motivate the challenges of operating at this size scale, the chapter includes coverage of the physical forces relevant to microrobot motion and manipulation below the millimeter-size scale. It then introduces the actuation methods commonly used in untethered manipulation schemes, with particular focus on magnetic actuation due to its wide use in the field. The chapter divides these manipulation techniques into two types: contact manipulation, which relies on direct pushing or grasping of objects for motion, and noncontact manipulation, which relies indirectly on induced fluid flow from the microrobot motion to move objects without any direct contact.

Author(s): Diller, Eric and Sitti, Metin
Journal: Micro-and Nanomanipulation Tools
Volume: 13
Year: 2015
Month: November
Day: 25
Publisher: Wiley-VCH Verlag GmbH & Co. KGaA

Department(s): Physical Intelligence
Research Project(s): Mobile micromanipulation
Bibtex Type: Book Chapter (inbook)

Chapter: 10
DOI: 10.1002/9783527690237.ch10
ISBN: 9783527337842


  title = {Untethered Magnetic Micromanipulation},
  author = {Diller, Eric and Sitti, Metin},
  journal = {Micro-and Nanomanipulation Tools},
  volume = {13},
  chapter = {10},
  publisher = {Wiley-VCH Verlag GmbH & Co. KGaA},
  month = nov,
  year = {2015},
  month_numeric = {11}