Force sensing in microrobotic systems-an overview

This paper describes methods of force sensing and gives a brief overview about applications of micro force sensors. Realisation of reliable force sensing during manipulation of microobjects is one of the important objectives of the current research activities. At present, the most common technique used for force sensing in micromanipulation is that of strain gauges; some of the proposed force sensors make use of-the piezoelectric effect. Other promising methods for strain measurement are also explored, but in general, only a few provide a basic and analytical description of force sensors for micromanipulation. However, these data are of fundamental importance for a proper functionality of microrobots capable of grasping with force feedback