Manipulation of Non-Magnetic Microbeads Using Soft Microrobotic Sperm

Ahmad E. El-Etriby; Anke Klingner; Ahmet Fatih Tabak; Islam S.M. Khalil

doi:10.1109/MARSS.2018.8481164

Manipulation of Non-Magnetic Microbeads Using Soft Microrobotic Sperm

Ahmad E. El-Etriby
, Anke Klingner
, Ahmet Fatih Tabak
, Islam S.M. Khalil

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

4 Citations (Scopus)

Abstract

In this work, we demonstrate the ability of soft microrobotic sperms to manipulate non-magnetic microbeads in two-dimensional space. First, we model the interaction between the microrobotic sperm and microbeads using the resistive-force theory (RFT). This RFT-based model enables us to predict the maximum payload a soft microrobotic sperm can manipulate at different actuation frequencies. Second, we demonstrate manipulation of the microbeads using microrobotic sperm under the influence of controlled magnetic fields. Our teleoperation manipulation trials show that the microrobotic sperm swims at an average speeds of 0.16 and 0.035 body-Iength-per-second during collision-free locomotion and manipulation, respectively. In addition, the microrobotic sperm positions 2-microbead within the vicinity of a reference position with maximum steady-state error of 55 μm.

Original language	English
Title of host publication	MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales
Editors	Sergej Fatikow, Sinan Haliyo, Fumihito Arai, Albert Sill
Place of Publication	Piscataway, NJ
Publisher	IEEE
ISBN (Electronic)	978-1-5386-4841-4, 978-1-5386-4840-7 (USB)
ISBN (Print)	978-1-5386-4842-1
DOIs	https://doi.org/10.1109/MARSS.2018.8481164
Publication status	Published - 3 Oct 2018
Externally published	Yes
Event	3rd International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2018 - Nagoya, Japan Duration: 4 Jul 2018 → 8 Jul 2018 Conference number: 3

Publication series

Name	MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales

Conference

Conference	3rd International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2018
Abbreviated title	MARSS 2018
Country/Territory	Japan
City	Nagoya
Period	4/07/18 → 8/07/18

Keywords

n/a OA procedure

Access to Document

10.1109/MARSS.2018.8481164

Cite this

El-Etriby, A. E., Klingner, A., Tabak, A. F., & Khalil, I. S. M. (2018). Manipulation of Non-Magnetic Microbeads Using Soft Microrobotic Sperm. In S. Fatikow, S. Haliyo, F. Arai, & A. Sill (Eds.), MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales Article 8481164 (MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales). IEEE. https://doi.org/10.1109/MARSS.2018.8481164

El-Etriby, Ahmad E. ; Klingner, Anke ; Tabak, Ahmet Fatih et al. / Manipulation of Non-Magnetic Microbeads Using Soft Microrobotic Sperm. MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales. editor / Sergej Fatikow ; Sinan Haliyo ; Fumihito Arai ; Albert Sill. Piscataway, NJ : IEEE, 2018. (MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales).

@inproceedings{16018fdb15324dfd8ca8e533f5695e9a,

title = "Manipulation of Non-Magnetic Microbeads Using Soft Microrobotic Sperm",

abstract = "In this work, we demonstrate the ability of soft microrobotic sperms to manipulate non-magnetic microbeads in two-dimensional space. First, we model the interaction between the microrobotic sperm and microbeads using the resistive-force theory (RFT). This RFT-based model enables us to predict the maximum payload a soft microrobotic sperm can manipulate at different actuation frequencies. Second, we demonstrate manipulation of the microbeads using microrobotic sperm under the influence of controlled magnetic fields. Our teleoperation manipulation trials show that the microrobotic sperm swims at an average speeds of 0.16 and 0.035 body-Iength-per-second during collision-free locomotion and manipulation, respectively. In addition, the microrobotic sperm positions 2-microbead within the vicinity of a reference position with maximum steady-state error of 55 μm.",

keywords = "n/a OA procedure",

author = "El-Etriby, \{Ahmad E.\} and Anke Klingner and Tabak, \{Ahmet Fatih\} and Khalil, \{Islam S.M.\}",

note = "Funding Information: This work was supported by the DAAD-BMBF funding project and the Science and Technology Development Fund in Egypt (No. 23016). ∗The authors are affiliated with the German University in Cairo, 11835 Cairo, Egypt. †The author is affiliated with the Mechatronics Engineering Department, Faculty of Engineering, Okan University, 34959 Tuzla, Istanbul, Turkey. Funding Information: This work was supported by the DAAD-BMBF funding project and the Science and Technology Development Fund in Egypt (No. 23016). Publisher Copyright: {\textcopyright} 2018 IEEE.; 3rd International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2018, MARSS 2018 ; Conference date: 04-07-2018 Through 08-07-2018",

year = "2018",

month = oct,

day = "3",

doi = "10.1109/MARSS.2018.8481164",

language = "English",

isbn = "978-1-5386-4842-1",

series = "MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales",

publisher = "IEEE",

editor = "Sergej Fatikow and Sinan Haliyo and Fumihito Arai and Albert Sill",

booktitle = "MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales",

address = "United States",

}

El-Etriby, AE, Klingner, A, Tabak, AF & Khalil, ISM 2018, Manipulation of Non-Magnetic Microbeads Using Soft Microrobotic Sperm. in S Fatikow, S Haliyo, F Arai & A Sill (eds), MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales., 8481164, MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales, IEEE, Piscataway, NJ, 3rd International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2018, Nagoya, Japan, 4/07/18. https://doi.org/10.1109/MARSS.2018.8481164

Manipulation of Non-Magnetic Microbeads Using Soft Microrobotic Sperm. / El-Etriby, Ahmad E.; Klingner, Anke; Tabak, Ahmet Fatih et al.
MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales. ed. / Sergej Fatikow; Sinan Haliyo; Fumihito Arai; Albert Sill. Piscataway, NJ: IEEE, 2018. 8481164 (MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Manipulation of Non-Magnetic Microbeads Using Soft Microrobotic Sperm

AU - El-Etriby, Ahmad E.

AU - Klingner, Anke

AU - Tabak, Ahmet Fatih

AU - Khalil, Islam S.M.

N1 - Conference code: 3

PY - 2018/10/3

Y1 - 2018/10/3

N2 - In this work, we demonstrate the ability of soft microrobotic sperms to manipulate non-magnetic microbeads in two-dimensional space. First, we model the interaction between the microrobotic sperm and microbeads using the resistive-force theory (RFT). This RFT-based model enables us to predict the maximum payload a soft microrobotic sperm can manipulate at different actuation frequencies. Second, we demonstrate manipulation of the microbeads using microrobotic sperm under the influence of controlled magnetic fields. Our teleoperation manipulation trials show that the microrobotic sperm swims at an average speeds of 0.16 and 0.035 body-Iength-per-second during collision-free locomotion and manipulation, respectively. In addition, the microrobotic sperm positions 2-microbead within the vicinity of a reference position with maximum steady-state error of 55 μm.

AB - In this work, we demonstrate the ability of soft microrobotic sperms to manipulate non-magnetic microbeads in two-dimensional space. First, we model the interaction between the microrobotic sperm and microbeads using the resistive-force theory (RFT). This RFT-based model enables us to predict the maximum payload a soft microrobotic sperm can manipulate at different actuation frequencies. Second, we demonstrate manipulation of the microbeads using microrobotic sperm under the influence of controlled magnetic fields. Our teleoperation manipulation trials show that the microrobotic sperm swims at an average speeds of 0.16 and 0.035 body-Iength-per-second during collision-free locomotion and manipulation, respectively. In addition, the microrobotic sperm positions 2-microbead within the vicinity of a reference position with maximum steady-state error of 55 μm.

KW - n/a OA procedure

UR - https://www.scopus.com/pages/publications/85056208477

U2 - 10.1109/MARSS.2018.8481164

DO - 10.1109/MARSS.2018.8481164

M3 - Conference contribution

AN - SCOPUS:85056208477

SN - 978-1-5386-4842-1

T3 - MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales

BT - MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales

A2 - Fatikow, Sergej

A2 - Haliyo, Sinan

A2 - Arai, Fumihito

A2 - Sill, Albert

PB - IEEE

CY - Piscataway, NJ

T2 - 3rd International Conference on Manipulation, Automation and Robotics at Small Scales, MARSS 2018

Y2 - 4 July 2018 through 8 July 2018

ER -

El-Etriby AE, Klingner A, Tabak AF, Khalil ISM. Manipulation of Non-Magnetic Microbeads Using Soft Microrobotic Sperm. In Fatikow S, Haliyo S, Arai F, Sill A, editors, MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales. Piscataway, NJ: IEEE. 2018. 8481164. (MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales). doi: 10.1109/MARSS.2018.8481164

Manipulation of Non-Magnetic Microbeads Using Soft Microrobotic Sperm

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