21 accepted papers
Micro-nano robots must break the symmetry of the flow field to generate net displacement in the low Reynolds number environment. The spherical micro-robots utilize the frictional forces generated through interaction with the surface. We designed a magnetic microroller robot powered by the rotating A
Traditional single-cell mechanical characterization techniques (e.g., atomic force microscopy) often face limitations in throughput, require invasive labeling, or fail to replicate physiological microenvironments, impeding their clinical utility for rapid cancer cell analysis. To address these limit
Micro-assembly is an emerging method to fabricate microrobots with multiple modules or particles. However, there is always a lack of a flexible and efficient method to freely create the desired magnetic soft microrobots. In this paper, an automated assembly system based on a two-fingered microhand i…
In the last decade, researchers have been trying to develop many microrobots that mimic the extraordinary abilities of bionts in complex environments. How to fabricate the biomimetic microrobot with satisfying deformability and complex shapes to realize desired precise motion is the key issue. In th…
Existing micromanipulation methods, whether contact micromanipulation or non-contact micromanipulation, can hardly meet the requirements of low damage and multiple functions in the biomedical field. This study provides a high-speed micromanipulator that can simulate circular vibrations and generate
With the advancements in the field of life sciences, there is an increasing demand for measuring cell characteristics. In this context, we developed a small microhand system that uses two end-effectors, such as chopsticks, to grasp and carry micro-objects. In addition, we succeeded in measuring the
The magnetic microrobot has become a promising approach in many biomedical applications due to its small volume, flexible motion, and untethered micromachines. The micro-chain robot is one of the most popular magnetic microrobots. However, the uncontrollable magnetic moment direction and quantity of…
Cell stiffness is an essential label-free biomarker used to diagnose and sort cells at the single-cell level. Here, we integrated magnetic tweezers on an efficient cell arraying microfluidic device to evaluate the mechanical properties of single cells. Two motion modes under pulsed electromagnetic f
Three-dimensional multi-layer microfluidic device (MMD) fabricated by polydimethylsiloxane (PDMS) is a solution for on-chip high-complexity serial or parallel processes. In this letter, we propose and set up an automated 8-DOF alignment system assisted by computer vision, which is capable of automat
In this paper, an automated tracking system with head and tail recognition for time-lapse observation of free-moving C. elegans is presented. In microscale field, active C. elegans can move out of the view easily without an automated tracking system because of the narrow field of view and rapid spee…
We have successfully achieved manipulation and assembly of microbeads having the size of 100μm diameter by hemispherical end-effectors with high stability and accuracy. The motivation of achieving assembly of actual cells lies in the great significance of it in tissue regeneration and cell analysis.…
For generating interactive behavior of robot to build a long-term relationship between humans and robots, we focus on the difference in familiarity of the human behaviors during conversation. It is difficult to extract interaction motion features correlated to such familiarity as a model in manual.…
In micromanipulation, lots of methods have been developed to manipulate objects in microscale. However, few of them can be applied in both the transportation and the rotation of the micro objects. In this paper, we present a novel method to realize the non-contact transportation and rotation of the…
The reliable manipulation of micro-objects has been a still difficult work in scientific and technical field due to scale effects. This paper presents two types of release methods, using local stream and inertia force generated by 3D high speed motion of an end effector, for releasing and accurate p…
The paper describes a method of fault-tolerant adaptive gait generation based on CPG controller with interlimb coordination for multi-limbed working robot. Multi-limbed robot is expected to work in dangerous, complicated narrow spaces, where human workers cannot reach. However, if one of the limbs i…
Recently, manipulation and observation of the cells are actively conducted in order to analyze the biological phenomena. Since the micro hand is usually fixed to the work environment, grasping target point of the cell on the opposite side of the micro hand by using a micro hand is limited by narrow
Single cell analysis has attracted much attention for revealing detailed and localized biological information. A local environmental control technique is desired when analyzing the detailed and localized properties of single cells. In this paper, we propose a local environmental stimulation system w…
In the field of medicine and biology, many studies to be related to regenerative medicine are accomplished. In particular, the purpose of helping the operation of the cells under a microscope, many research related to micro manipulation techniques with robotic technology has been proposed. In such b…
Recently micro manipulation techniques for cell or microorganism has attracted attention in life sciences. In this paper, non-contact manipulation method using water stream is proposed. Water stream is generated by a glass needle vibration that is actuated by a piezoelectric actuator. The stream is…
This paper presents an active release method of microobject for the improvement of the position accuracy after releasing by using 3D high speed motions of an end effector. In the micro manipulation, the release task is the challenge work due to adhesion forces. To overcome the adhesion force and to…
Visual tracking of objects subjected to non-linear motion and appearance changes has shown to be a difficult task in computer vision. While research in visual object tracking has progressed significantly in terms of robust tracking of objects subjected to non-linear motion and appearance changes, th…