This paper presents an efficient coil design for a mm-sized micro-robot which generates a propulsion force and torque and receives electrical energy using a wireless power transfer system. To determine the most efficient coil structures and produce propulsion and torque on the micro-robot, both helical and spiral coil modeling was conducted, and analytical formulations of the propulsion force a...

In order to minimize the invasiveness of intestinal disease diagnosis and surgery, we propose an anchoring and extending micro-robot. The gait of the micro-robot was designed according to the biomechanical features of the intestinal tract. The locomotion condition showed that the anchoring capability and extending ability should be balanced to enhance locomotion efficiency. The mechanical and c...

We developed a highly-functional untethered on-chip robot for cell handling and micro-knife made by Si to cut zona pellucida of oocyte. The on-chip robot has a gripping mechanism which can grasp a cell or micro-object with sufficient power. The position and handling force of the robot are controlled independently by the magnetic force. The permanent magnets and electrical magnet are assembled t...

Title of Document: Novel Integrated System Architecture for an Autonomous Jumping Micro-Robot Wayne A. Churaman, M.S., 2010 Directed By: Dr. Neil Goldsman, ECE ; Dr. Sarah Bergbreiter, ME As the capability and complexity of robotic platforms continue to evolve from the macro to micro-scale, innovation of such systems is driven by the notion that a robot must be able to sense, think, and act [1]...

In this paper we study the self-propulsion of a dumbbell micro-robot submerged in a viscous fluid. The micro-robot consists of two rigid spherical beads connected by a rod or a spring; the rod’s/spring’s length is changing periodically. The constant density of each sphere differs from the density of a fluid, while the whole micro-robot has neutral buoyancy. An effective oscillating gravity fiel...

The first part of the paper describes the miniaturized robot Parvus, which is suitable for desktop factory applications. The Parvus is well equipped for pick-and-place of micro parts in precision assembly. The challenges of precision assembly are discussed considering the technical data and behavior of the robot. The hybrid robot operates based on parallel kinematics and is driven by micro harm...

Nishi [1-3], Backes [4] have built large wall-climbing robots with suction cups. However, designing a micro-robot that can climb walls, walk on ceilings, crawl through pipes and traverse on floors is a challenging task. Autonomous micro-robot system has wide applications include remotely monitoring hazardous environments, reconnaissance, defects inspection, and fire fighting. The restrictions s...

Operating a robot in the micro/nano-world presents challenges not found in the macro-world. Due to the small dimensions, the operator has no direct access to the objects and must assemble them by teleoperation. To allow a good manipulability, we propose a mixed teleoperation system which is composed of both direct and taskoriented teleoperation modes. The operator is provided with a set of visu...

We aimed to develop a micro-robot that can crawl on contact surfaces in biological environments. The prototype chassis of this micro-bot consists of a lipid membrane that encapsulates and bonds micro-sized magnetic particles. By applying a rotating magnetic field, we hope to obtain a micro-crawler robot. In this report, we describe our observations of the rotational movement of liposomes (10–60...