Development and implementation of a biomanipulation system with magnetic-driven microrobots

Hui Tang, Yangmin Li, Yuchun Song

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

2 Citations (Scopus)


Recently, biomanipulation microrobots have attracted much attention in both academia and industry since they have become a promising tool to perform the practical biological micromanipulation tasks. In this field, biological micromanipulation on micro-fluidic chip emerge as a new focus since it can be used to improve the biomanipulation efficiency and stability. This study aims to develop a micromanipulation system with magnetic driven microrobots to implement the practical biomanipulations on a micro-fluidic chip. A novel flexure-based micromanipulator with large-workspace and micro/nano scale motion accuracy is proposed in this paper. After a series of mechanism optimal designs and analytic modeling, the positioning performance of the micromanipulators are evaluated by using the ANSYS Workbench Platform. After the mechanism fabrication, with the consideration of rate-dependent hysteresis effect inherent in piezoelectric ceramics (PZT) actuators, a novel hybrid visual servo control (HVSC) strategy combining with the Extreme Learning Machine (ELM) and the Artificial Neural Network (ANN) is proposed. Afterwards, a series of practical biomanipulation experiments are successfully implemented by using the designed control strategy. Both theoretical analysis and visual tracking results uniformly demonstrate the satisfactory performance of the developed system.
Original languageEnglish
Title of host publication2013 13th IEEE International Conference on Nanotechnology, IEEE-NANO 2013
Number of pages6
Publication statusPublished - 1 Dec 2013
Externally publishedYes
Event2013 13th IEEE International Conference on Nanotechnology, IEEE-NANO 2013 - Beijing, China
Duration: 5 Aug 20138 Aug 2013


Conference2013 13th IEEE International Conference on Nanotechnology, IEEE-NANO 2013

ASJC Scopus subject areas

  • Bioengineering
  • Electrical and Electronic Engineering
  • Materials Chemistry
  • Condensed Matter Physics

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