RI: Small: A Microgripper with Concurrent Actuation and Force Sensing

这项工作的目标是通过探索以下假设，对微操作（5-500微米的物体）所需的驱动和力传感有更好的基本理解：通过使用相同的微指同时作为致动器和传感器，可以在测量物理特性（如刚度）的同时操纵微尺寸的刚性和柔性物体。通过制造一组越来越小的微夹持器，从理论上和实验上探索了这一假设。两种模型，一种是解析模型，另一种是数值模型，将用于预测这种新型微型手指的性能作为尺寸的函数。用实际的微夹持器进行了实验，验证了模型的质量。这项工作影响了科学、教育和向少数民族人口的推广。柔性微夹持器是一种能够操纵柔性和脆弱生物物体的技术，应用于生物工程、微生物学和基因组学。微钳挤压卵母细胞，在随后注射DNA或RNA之前，通过测量细胞的硬度来确定其生存能力，将繁琐的人工程序变成程序化的自动序列，从而降低成本。通过用微钳测量细胞的物理特性，检测疾病（如疟疾）的新方法成为可能。更广泛的影响包括教育和外联。重点是支持学生在当地中学和高中就这项技术进行演讲，以吸引下一代成为工程师。这些讲座提高了研究生的专业能力，同时向年轻学生展示了学习数学和科学的目的。

The goal of this work is to develop a better fundamental understanding of the actuation and force sensing required for micromanipulation (objects from 5-500 microns) by exploring the following hypothesis: it is possible to manipulate micro-sized rigid and flexible objects while measuring physical properties, such as stiffness, by using the same microfinger to act simultaneously as an actuator and sensor. This hypothesis is explored both theoretically and experimentally by creating a set of smaller and smaller microgrippers. Two models, one analytical, the other numeric, of this new microfinger will be developed to predict performance as a function of size. Experiments using actual microgrippers verify the quality of the model.The work impacts science, education, and outreach to minority populations. A compliant microgripper is an enabling technology to manipulate flexible and fragile bio-objects for applications in bioengineering, microbiology and genomics. A microgripper squeezes an oocyte to determine its viability by measuring the stiffness of the cell before subsequent injection of DNA or RNA, turning tedious manual procedures into programmed, automatic sequences, thereby reducing cost. New ways of detecting diseases, such as malaria, by measuring physical properties of cells with the microgripper become possible. Broader impacts include education and outreach. Great emphasis is spent on having supported students give talks about this technology at local middle schools and high schools to entice the next generation to become engineers. These talks improve the professional capabilities of the graduate students while simultaneously demonstrating to young students the purpose of studying math and science.