Micro diagnostic by micro robot with stiffness indenter for BIO materials

The development of the instrumented indentation testing robot for bio materials with micro surface hardness and stiffness test is described. This micro surface measurement system is composed of the piezo-driven micro-robot with the indenter that can move to the measurement area precisely step by step with 1 μm per step on a metal plate and camera base coordinate measurement instruments. The position of the small robot can be controlled precisely by vision base navigation system. With the help of image processing technique, the coordination of the small robot can be identified precisely within ±10 μm resolution. Since the performance of micro hardness sensing is compared with the hardness standard block to certify its ability, the sensing head is implemented on a micro-robot. In the experiment results, the elasticity investigation with human tooth is successfully checked by the indentation load-depth characteristics.