Bio-micromanipulation (new direction for operation improvement)

Micromanipulation is important in bio-science and bio-engineering field. In this paper, we propose a new micromanipulation system using a micro bio-jig and electrorheological (ER) joint. First, we propose a micro-fixture device for bio-micromanipulation (bio-jig). Property of the bio-jig is also shown based on the FEM analysis of the electric field. Next, we propose a joint containing the ER fluid (ER joint). We show its application examples to a safety mechanism and variable stiffness type microgripper. We made a prototype of the microgripper with the ER joint. The stiffness of the flexible finger is adjusted by the ER joint. We succeeded in accurate force sensing and fast motion control by controlling the applied voltage to the ER joint.