Micromanipulation tool replaceable soft actuator with gripping force enhancing and output motion converting mechanisms

This paper presents an innovative arched ionic polymer metal composite (IPMC) actuator for micromanipulating soft matters (e.g. cells). With a pair of through-hole structures at two front ends of the actuator, versatile designed micro-tools can be individually installed onto and replaced from the actuator. Two micro-tools of scissor-type gripper and elastic pin structure are developed to strengthen the clamping force of the gripper and convert a squeeze/pull motion to forward/backward motion, respectively. Through the location design of a hinge joint on the scissor-type gripping tool, the gripper tip can produce several times larger force on than at the end of the assembled actuator. A microneedle can be mounted onto the pin of arc-shaped PDMS tool to manipulate a single cell in a linear motion through electrically controlling IPMC actuation.