An overview of multiple DoF magnetic actuated micro-robots

被引：23

作者：

Bouchebout, Soukeyna ^{[1
]}

Bolopion, Aude ^{[2
]}

Abrahamians, Jean-Ochin ^{[1
]}

Régnier, Stéphane ^{[1
]}

机构：

[1] Institut des Système Intelligents et de Robotique (ISIR), Université Pierre et Marie Curie/CNRS UMR-7222, 75005 Paris, BC 173

[2] FEMTO-ST Institute, UFC, ENSMM, UTBM, CNRS UMR-6174, 25000 Besançon

来源：

Journal of Micro-Nano Mechatronics | 2012年 / 7卷 / 04期

关键词：

Control; Magnetic actuation; Micro-robot;

D O I：

10.1007/s12213-012-0048-y

中图分类号：

学科分类号：

摘要：

This paper reviews the state of the art of untethered, wirelessly actuated and controlled micro-robots. Research for such tools is being increasingly pursued to provide solutions for medical, biological and industrial applications. Indeed, due to their small size they offer both high velocity, and accessibility to tiny and clustered environments. These systems could be used for in vitro tasks on lab-on-chips in order to push and/or sort biological cells, or for in vivo tasks like minimally invasive surgery and could also be used in the micro-assembly of micro-components. However, there are many constraints to actuating, manufacturing and controlling micro-robots, such as the impracticability of on-board sensors and actuators, common hysteresis phenomena and nonlinear behavior in the environment, and the high susceptibility to slight variations in the atmosphere like tiny dust or humidity. In this work, the major challenges that must be addressed are reviewed and some of the best performing multiple DoF micro-robots sized from tens to hundreds μm are presented. The different magnetic micro-robot platforms are presented and compared. The actuation method as well as the control strategies are analyzed. The reviewed magnetic micro-robots highlight the ability of wireless actuation and show that high velocities can be reached. However, major issues on actuation and control must be overcome in order to perform complex micro-manipulation tasks. © 2012 Springer-Verlag Berlin Heidelberg.

引用

页码：97 / 113

页数：16

共 50 条

[1]

Nelson B.J., Kaliakatsos I.K., Abbott J.J., Microrobots for minimally invasive medicine, Annu Rev Biomed Eng, 12, pp. 55-85, (2010)

[2]

Donald B.R., Levey C.G., Mcgray C.D., Paprotny I., Rus D., An untethered, electrostatic, globally controllable mems micro-robot, J Microelectromech Syst, 15, 1, pp. 1-15, (2006)

[3]

Kharboutly K., Gauthier M., Chaillet N., Modeling the trajectory of a micro particle in a dielectrophoresis device, In: IEEE international conference on robotics and automation (ICRA'10), (2010)

[4]

Jing W., Chen X., Lyttle S., Fu Z., Shi Y., Cappelleri D.J., A magnetic thin film microrobot with two operating modes, In: IEEE international conference on robotics and automation (ICRA'11), pp. 96-101, (2011)

[5]

Kosa G., Shoham M., Zaaroor M., Propulsion method for swimming microrobots, IEEE Trans Robot, 13, 1, pp. 137-150, (2007)

[6]

Liew L.-A., Bright V.M., Dunn M.L., Daily J.W., Raj R., Development of SiCN ceramic thermal actuators, In: IEEE international conference on micro electro mechanical systems, (2002)

[7]

Cahill D.G., Ford W.K., Goodson K.E., Mahan G.D., Majumdar H.J., Maris A., Merlin R., Phillpot S.R., Nanoscale thermal transport, J Appl Phys, 93, 2, pp. 793-818, (2003)

[8]

Bellouard Y., Micro-Robotics: Methods and Applications, (2009)

[9]

Martel S., Tremblay C.C., Ngakeng S., Langlois G., Controlled manipulation and actuation of micro-objects with magnetotactic bacteria, Appl Phys Lett, 89, 23, pp. 233904-233907, (2006)

[10]

Martel S., Mohammadi M., Felfoul O., Lu Z., Pouponneau P., Flagellated magnetotactic bacteria as controlled MRI-trackable propulsion and steering systems for medical nanorobots operating in the human microvasculature, Int J Rob Res, 28, 4, pp. 571-582, (2009)

← 1 2 3 4 5 →