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This paper studies the capabilities of a microrobotic platform, driven by vibrating motors, to generate and impart micromanipulation forces of desired type and magnitude. First, an analysis is carried out on the nature of the actuation forces of the motion mechanism of the platform. The results demonstrate that the oscillating nature of these forces does not allow their direct use for micromanipulations...
In this paper, a novel haptic tele-manipulation environment is presented. This includes an interface between a master haptic mechanism and a slave mechatronic mechanism for biomedical operations. The novelty stems from the fact that the environment's slave is a micromechatronic device driven by two inexpensive centripetal force vibration micromotors. The unique characteristics and challenges that...
This paper presents a new driving principle for microrobotic platforms whose actuation mechanism is based on two centripetal force actuators. The driving principle results to a controlled motion with precision of a few microns and is suitable for manipulation tasks. The drivers generate an appropriately selected sequence of pulsed actuations resulting in successive microsteps with high repeatability...
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