Title :
Cooperative micromanipulation using optically controlled bubble microrobots
Author :
Ishii, Kelly S. ; Hu, Wenqi ; Ohta, Aaron T.
Author_Institution :
Dept. of Electr. Eng., Univ. of Hawai´´i at Manoa, Honolulu, HI, USA
Abstract :
Optically actuated bubbles in oil were used as microrobots. Simulations of the thermocapillary fluid flow within the oil phase are used to illustrate the mechanisms driving the bubble actuation. Parallel manipulation of sub-millimeter objects including glass beads and hydrogel beads was demonstrated. These capabilities show the potential for using the bubble microrobots in biomedical or other microassembly applications.
Keywords :
bubbles; capillarity; flow control; micromanipulators; oils; bubble actuation; cooperative micromanipulation; glass beads; hydrogel beads; oil phase; optically actuated bubbles; optically controlled bubble microrobots; parallel manipulation; submillimeter object manipulation; thermocapillary fluid flow; Atmospheric modeling; Fluids; Force; Glass; Heating; Microassembly; Substrates;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6225299
