Title :
Force Sensing and Control in Micromanipulation
Author :
Lu, Zhe ; Chen, Peter C Y ; Lin, Wei
Author_Institution :
Dept. of Mech. Eng., Nat. Univ. of Singapore
Abstract :
In micromanipulation, the size of the manipulated object is usually much less than 1 mm in a single dimension, in which case gravitational and inertial forces are no longer dominant. This leads to problems (for manipulation through force) that are not evident in the macroworld, and for which the macroworld techniques alone may not be adequate to provide solutions. This paper surveys critical issues and their available solutions related to force control in micromanipulation. It focuses on: 1) techniques for dealing with adhesion forces and 2) methods for force sensing and control
Keywords :
force control; force sensors; micromanipulators; adhesion force; force control; force sensor; macroworld technique; micromanipulation control; Adhesives; Biological materials; Biological system modeling; Fabrication; Force control; Force sensors; Microscopy; Pharmaceuticals; Position control; Testing; Adhesion forces; force control; force sensors; micromanipulationn; microrobotic system;
Journal_Title :
Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on
DOI :
10.1109/TSMCC.2006.879385
