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Proceedings Paper

Mesoscale to microscale controlled manipulation of microscale objects using MEMS based microgripper and haptic interface
Author(s): Ashwin P. Vijayasai; Ganapathy Sivakumar; Matthew Mulsow; Shelby Lacouture; Alex Holness; Tim E. Dallas
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Paper Abstract

In this work, we describe the development and testing of a three degree of freedom (DOF) meso/micro manipulation system for handling biological cells (SF-9) and micro objects. Three axis control is obtained using stepper motors coupled to three micromanipulators. One motor is coupled to a linear X-stage which holds the test specimen. The remaining two stepper motors are coupled to Y and Z axis micromanipulators. The stepper motor - micromanipulator arrangement has minimum step resolution of ~0.45μm with a total travel of 10mm and the stepper motor - X stage arrangement has a minimum resolution of ~0.3μm. The shaft end of the micromanipulator has a commercially available electrostatic MEMS microgripper from Femtotools™ which has a gripping range of 0 - 100μm. As the gripping action is performed, a commercially available 3 DOF haptic device (Novint Falcon) is programmed to give force feedback to the user. Both mesoscale and microscale control are important, as mesoscale control is required for the travel motion of the test object whereas microscale control is required for the gripping action. A LabView based system is used to control the position of the microgripper, to control the opening of the microgripper, and to provide force-feedback through the haptic.

Paper Details

Date Published: 17 February 2010
PDF: 11 pages
Proc. SPIE 7593, Microfluidics, BioMEMS, and Medical Microsystems VIII, 75930J (17 February 2010); doi: 10.1117/12.842298
Show Author Affiliations
Ashwin P. Vijayasai, Texas Tech Univ. (United States)
Ganapathy Sivakumar, Texas Tech Univ. (United States)
Matthew Mulsow, Texas Tech Univ. (United States)
Shelby Lacouture, Texas Tech Univ. (United States)
Alex Holness, Univ. of Maryland (United States)
Tim E. Dallas, Texas Tech Univ. (United States)

Published in SPIE Proceedings Vol. 7593:
Microfluidics, BioMEMS, and Medical Microsystems VIII
Holger Becker; Wanjun Wang, Editor(s)

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