Development of a force-reflection controlled micro underwater actuator

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.973384

Wenli Zhou, A. Hui, W. Li, N. Xi

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引用次数: 8

Abstract

The ability to manipulate and control biological cells with reflective-force information is a key technology necessary for many new applications in bio-MEMS, but is currently lacking in all cellular manipulators. We report our preliminary experimental work in using an ionic conducting polymer film (ICPF) to develop a biological cellular robotic gripper with force sensing capability. ICPF actuators are able to give large deflection with small input voltage (/spl sim/5V) in aqueous environments, and also able to give relatively large output voltage due to deflection by mechanical forces. Thus, ICPF actuators are investigated as possible cellular force-reflection controlled manipulators in our work. Individual multi-finger grippers with dimensions of 200/spl mu/m /spl times/ 200/spl mu/m /spl times/ 3000/spl mu/m for each finger were realized. We report on the design, fabrication procedures, and operating performance of our ICPF actuators. Further development in the reduction of size of these actuators will enable effective force-feedback control of underwater micro objects and lead to new frontiers in cellular manipulation.

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力反射控制水下微型驱动器的研制

利用反射力信息操纵和控制生物细胞的能力是生物mems中许多新应用所必需的关键技术，但目前在所有细胞操纵器中都缺乏。我们报告了使用离子导电聚合物薄膜(ICPF)开发具有力传感能力的生物细胞机器人抓取器的初步实验工作。ICPF执行器能够在水环境中以小的输入电压(/spl sim/5V)产生大的偏转，并且由于机械力的偏转也能够产生相对较大的输出电压。因此，在我们的工作中，ICPF执行器被研究为可能的细胞力反射控制操纵器。实现了每个手指尺寸为200/spl亩/米/spl倍/ 200/spl亩/米/spl倍/ 3000/spl亩/米的单个多指夹持器。我们报告了我们的ICPF执行器的设计、制造程序和操作性能。进一步缩小这些致动器的尺寸将使水下微型物体的有效力反馈控制成为可能，并为细胞操作带来新的前沿。

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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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