Diamagnetic suspension with variable compliance for force sensing devices

Lateral force calibration of an atomic force microscope with a diamagnetic levitation spring system

A novel diamagnetic lateral force calibrator D-LFC has been developed to directly calibrate atomic force microscope AFM cantilever-tip or -bead assemblies. This enables an AFM to accurately measure the lateral forces encountered in friction or biomechanical-testing experiments at a small length scale. In the process of development, deformation characteristics of the AFM cantilever assemblies un...

A seesaw-lever force-balancing suspension design for space and terrestrial gravity-gradient sensing

Density-based diamagnetic separation: devices for detecting binding events and for collecting unlabeled diamagnetic particles in paramagnetic solutions.

This paper describes the fabrication of a fluidic device for detecting and separating diamagnetic materials that differ in density. The basis for the separation is the balance of the magnetic and gravitational forces on diamagnetic materials suspended in a paramagnetic medium. The paper demonstrates two applications of separations involving particles suspended in static fluids for detecting the...

Force and Compliance Controls

A class of simple tasks may need only trajectory control where the robot end-effecter is moved merely along a prescribed time trajectory. However, a number of complex tasks, including assembly of parts, manipulation of tools, and walking on a terrain, entail the control of physical interactions and mechanical contacts with the environment. Achieving a task goal often requires the robot to compl...

Passive Variable Compliance for Dynamic Legged Robots

Recent developments in legged robotics have found that constant stiffness passive compliant legs are an effective mechanism for enabling dynamic locomotion. In spite of its success, one of the limitations of this approach is reduced adaptability. The final leg mechanism usually performs optimally for a small range of conditions such as the desired speed, payload, and terrain. For many situation...