Arch-Shaped Ionic Polymer-Metal Composite Actuator Integratable With Micromachined Functional Tools for Micromanipulation

This paper presents an innovative arched ionic polymer-metal composite (IPMC) actuator integrated with microtools for manipulating soft materials, such as cells and tissues. Microtools of different designs can be inserted individually into a pair of hinge pin-hole structures at the two front ends of the arch-shaped actuator. Two microtools, namely, a scissor-type gripper and an elastic needle structure, were developed. The former tool can be used to enhance the clamping force of the gripper, and the latter can perform forward/backward motion by converting the squeeze/pull motion of the IPMC actuator. Adjusting the pin-hole position on the gripper link enables the gripper tip to produce a force several times greater than the force generated at the hinge joint of the actuator. The needle tool diverts the direction of force output and displacement of the IPMC actuator. The fabrication and the characterization of the actuator are described in detail. The force output and displacement of the gripper and the elastic needle can reach 0.1 N and 500 mu m and 0.28 mN and 500 mu m, respectively. Finally, the micromanipulation of a Nostocflagelliforme cell and a polydimethylsiloxane cube having Young's modulus similar to that of the human liver is demonstrated.