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Proceedings Paper

Micromanipulation and microfabrication for optical microrobotics
Author(s): Darwin Palima; Andrew Rafael Bañas; Gaszton Vizsnyiczai; Lóránd Kelemen; Thomas Aabo; Pál Ormos; Jesper Glückstad
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Paper Abstract

Robotics can use optics feedback in vision-based control of intelligent robotic guidance systems. With light’s miniscule momentum, shrinking robots down to the microscale regime creates opportunities for exploiting optical forces and torques in microrobotic actuation and control. Indeed, the literature on optical trapping and micromanipulation attests to the possibilities for optical microrobotics. This work presents an optical microrobotics perspective on the optical microfabrication and micromanipulation work that we performed. We designed different three-dimensional microstructures and fabricated them by two-photon polymerization. These microstructures were then handled using our biophotonics workstation (BWS) for proof-of-principle demonstrations of optical actuation, akin to 6DOF actuation of robotic micromanipulators. Furthermore, we also show an example of dynamic behavior of the trapped microstructure that can be achieved when using static traps in the BWS. This can be generalized, in the future, towards a structural shaping optimization strategy for optimally controlling microstructures to complement approaches based on lightshaping. We also show that light channeled to microfabricated, free-standing waveguides can be used not only to redirect light for targeted delivery of optical energy but can also for targeted delivery of optical force, which can serve to further extend the manipulation arms in optical robotics. Moreover, light deflection with waveguide also creates a recoil force on the waveguide, which can be exploited for controlling the optical force.

Paper Details

Date Published: 10 October 2012
PDF: 8 pages
Proc. SPIE 8458, Optical Trapping and Optical Micromanipulation IX, 84581V (10 October 2012); doi: 10.1117/12.945928
Show Author Affiliations
Darwin Palima, Technical Univ. of Denmark (Denmark)
Andrew Rafael Bañas, Technical Univ. of Denmark (Denmark)
Gaszton Vizsnyiczai, Biological Research Ctr. (Hungary)
Lóránd Kelemen, Biological Research Ctr. (Hungary)
Thomas Aabo, Technical Univ. of Denmark (Denmark)
Pál Ormos, Biological Research Ctr. (Hungary)
Jesper Glückstad, Technical Univ. of Denmark (Denmark)

Published in SPIE Proceedings Vol. 8458:
Optical Trapping and Optical Micromanipulation IX
Kishan Dholakia; Gabriel C. Spalding, Editor(s)

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