Publication record · 18.cifr/2014.jing.magnetic-microrobot-force

Incorporating in-situ force sensing capabilities in a magnetic microrobot

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Wuming Jing (Purdue University), David J. Cappelleri (Purdue University)

RAI18.cifr/2014.jing.magnetic-microrobot-force

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems· 2014· doi:10.1109/IROS.2014.6943231

This paper presents the design, fabrication, and experimental validation of a magnetic microrobot with integrated in-situ force sensing capabilities. The robot uses its compliant legs as force transducers, with optical tracking of leg tip deflection to estimate contact forces via Euler-Bernoulli beam theory. The approach enables simultaneous locomotion and force measurement without additional sensor components.

magnetic microrobotforce sensingEuler-Bernoulli beamcompliant mechanismmicromanipulation

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Measuring contact forces during microscale robotic manipulation is extremely challenging because conventional force sensors are too large. Researchers performing microassembly or cell manipulation lacked force feedback without bulky external setups. This work solves simultaneous locomotion and in-situ force sensing by repurposing compliant legs as deflection-based transducers.

Novelty

Integrates in-situ force sensing directly into a magnetically actuated microrobot by using the robot's compliant legs as force transducers measured optically. Unlike prior microrobots requiring separate instrumentation, this embeds force sensing into the locomotion structure itself without additional fabrication. Enables simultaneous locomotion and contact force measurement at the microscale.

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