Fabrication of the micro-gripper with a force sensor for manipulating a cell

2006 ◽  
Author(s):  
Kyungnam Han ◽  
Sang Lee ◽  
Wonkyu Moon ◽  
Joon-shik Park
Keyword(s):  
Force Sensor ◽  
Micro Gripper ◽  
A Cell

Development of a Novel Micro-Gripper Integrating Tri-Axial Force Sensor

2007 ◽  
Author(s):  
Jiachou Wang ◽  
Weibin Rong ◽  
Lining Sun ◽  
Hui Xie ◽  
Wei Chen
Keyword(s):  
Axial Force ◽  
Crystalline Silicon ◽  
Force Sensor ◽  
Calibration Method ◽  
Deep Reactive Ion Etching ◽  
Micro Gripper ◽  
The Cross ◽  
Silicon Frame ◽  
High Level ◽  
Cross Structure

A novel micro gripper integrating tri-axial force sensor and two grades displacement amplifier is presented in this paper, which bases on the technology of Piezoresistive detection and use PZT as its micro driving component. The micro tri-axial force sensor is fabricated on a single-crystalline-silicon by the technology of MEMS and consists of a flexible cross-structure realized by deep reactive ion etching (DRIE). The arms of the cross-structure are connected to a silicon frame and to the central part of the cross-structure. After modeling the amplifier structure of micro gripper and the sensor, finite element method (FEM) is used to analyze the displacement of the micro gripper and the deformation of the cross-structure elastic cantilever. A calibration method of tri-axial sensor based on the technology of microscopic vision and the principle of bending deflection cantilever is proposed. The experimental verified that the sensor are high level of intrinsic decoupling of the signals from strain gauge, high resolutions in all three axes, high linearity and repeatability and simple produce of calculation. And also show the micro gripper is reasonable and practical. The sensor is capable of resolving forces up to 10mN with resolution of 2.4μN in x axis and y axis and up to 10mN with resolution of 4.2μN in z axis; the gripping displacement of the micro gripper is from 20μm to 300μm.

Force Controlled Manipulation of Biological Cells Using a Monolithic MEMS Based Nano-Micro Gripper

2012 ◽  
Author(s):  
Ali A. Abbasi ◽  
M. T. Ahmadian
Keyword(s):  
Liquid Medium ◽  
Force Control ◽  
Force Sensor ◽  
Rapid Response ◽  
Pid Controllers ◽  
Biological Cells ◽  
Matlab Software ◽  
Micro Gripper ◽  
The Future ◽  
Geometrical Dimensions

Nano-micro grippers are able to pick-transport-place the micro or nanometer–sized materials, such as manipulation of biological cells or DNA molecules in a liquid medium. This paper proposes a novel monolithic nano-micro gripper structure with two axis piezoresistive force sensor which its resolution is under nanoNewton. The results of the study have been obtained by the simulation of the proposed gripper structure in Matlab software. Motion of the gripper arm is produced by a voice coil actuator. The behavior of the cell has been derived using the assumptions in the literatures. Moreover, two simple PID controllers, one for control of the gripper motion and another for control of the force during manipulation of a biologic cell, have been implemented. Although the proposed gripper has not been fabricated, since the geometrical dimensions of the proposed gripper is the same as previously developed electrothermally actuated micro-nano gripper, the results of force control have been also compared with it. The simulated results with the very simple PID force controller which has a more rapid response than previously developed electrothermally actuated micro-nano gripper show that the designed gripper has the potential to be considered and fabricated for manipulation of biological cells in the future.

A hybrid-type micro-gripper with an integrated force sensor

2003 ◽  
Vol 9 (8) ◽  
pp. 511-519 ◽  
Author(s):  
J. Park ◽  
W. Moon
Keyword(s):  
Force Sensor ◽  
Hybrid Type ◽  
Micro Gripper

scholarly journals Polymer filament–based in situ microrobot fabrication using magnetic guidance

2016 ◽  
Vol 14 (1) ◽  
pp. 172988141668270 ◽  
Author(s):  
Zhe Li ◽  
Eric Diller
Keyword(s):  
Three Dimensional ◽  
Bending Moment ◽  
Operational Environment ◽  
Micro Gripper ◽  
Magnetic Guidance ◽  
Planar Shapes ◽  
A Cell ◽  
Robotic Devices ◽  
Magnetic Microrobots

In this article, we present a new three-dimensional printing inspired method for in situ fabrication of mobile magnetic microrobots with complex topology by bending a polymer filament on demand directly inside an enclosed operational environment. Compared with current microrobot fabrication methods that typically involve multiple microfabrication steps and complex equipment, the proposed method is simply and fast. The target shape is formed as the filament is fed through a hot needle inserted into the workspace, and the filament bending moment is induced by attaching a tip magnet at the end of the filament and projecting magnetic fields wirelessly from external electromagnetic coils. The filament bending mechanics and the behavior of the bending zone are analyzed and verified through bending experiment. A shape planner is developed for automatically controlling the fabrication process of any desired planar shapes, and the shape creation potential of this method is also studied. Magnetically active millimeter-scale robotic devices of different planar shapes are fabricated using polylactic acid filament with diameter as small as 100 μm. As demonstrations of the in situ formation of functional microrobotic devices, a micro-gripper is fabricated and controlled to assemble a cell cage. A micro-spring is created as a manipulating tool with force sensing capability. We, thus, show the utility of the fabrication method for creating complex microrobot shapes remotely in enclosed environments for advanced microrobotic applications, with the potential for scaled down applications in health care and microfluidics.

Cell Traction Force Mapping in MG63 and HaCaTs

2013 ◽  
Vol 832 ◽  
pp. 39-44
Author(s):  
Chin Fhong Soon ◽  
Mohamad A. Genedy ◽  
Mansour Youseffi ◽  
Morgan C.T. Denyer
Keyword(s):  
Liquid Crystal ◽  
Force Measurement ◽  
Traction Force ◽  
Force Sensor ◽  
Cell Types ◽  
Traction Forces ◽  
Cell Traction ◽  
A Cell ◽  
Cell Force Measurement ◽  
Cell Force

The ability of a cell to adhere and transmit traction forces to a surface reveals the cytoskeleton integrity of a cell. Shear sensitive liquid crystals were discovered with new function in sensing cell traction force recently. This liquid crystal has been previously shown to be non-toxic, linear viscoelastic and sensitive to localized exerted forces. This paper reports the possibility of extending the application of the proposed liquid crystal based cell force sensor in sensing traction forces of osteoblast-like (MG-63) and human keratinocyte (HaCaT) cell lines exerted to the liquid crystal sensor. Incorporated with cell force measurement software, force distributions of both cell types were represented in force maps. For these lowly contractile cells, chondrocytes expressed regular forces (10 – 90 nN, N = 200) around the circular cell body whereas HaCaT projected forces (0 – 200 nN, N = 200) around the perimeter of poly-hedral shaped body. These forces are associated with the organisation of the focal adhesion expressions and stiffness of the LC substrate. From the results, liquid crystal based cell force sensor system is shown to be feasible in detecting forces of both MG63 and HaCaT.

Effect of Niacin on Mitochondria of Allium Cepa Root Cells

1967 ◽  
Vol 25 ◽  
pp. 78-79
Author(s):  
M. Arif Hayat
Keyword(s):  
Nicotinamide Adenine Dinucleotide ◽  
Hydrogen Transfer ◽  
Nicotinamide Adenine Dinucleotide Phosphate ◽  
Nicotinamide Adenine ◽  
Root Tips ◽  
Root Cells ◽  
Transfer Processes ◽  
Standard Procedures ◽  
A Cell ◽  
Critical Interest

Although it is recognized that niacin (pyridine-3-carboxylic acid), incorporated as the amide in nicotinamide adenine dinucleotide (NAD) or in nicotinamide adenine dinucleotide phosphate (NADP), is a cofactor in hydrogen transfer in numerous enzyme reactions in all organisms studied, virtually no information is available on the effect of this vitamin on a cell at the submicroscopic level. Since mitochondria act as sites for many hydrogen transfer processes, the possible response of mitochondria to niacin treatment is, therefore, of critical interest.Onion bulbs were placed on vials filled with double distilled water in the dark at 25°C. After two days the bulbs and newly developed root system were transferred to vials containing 0.1% niacin. Root tips were collected at ¼, ½, 1, 2, 4, and 8 hr. intervals after treatment. The tissues were fixed in glutaraldehyde-OsO4 as well as in 2% KMnO4 according to standard procedures. In both cases, the tissues were dehydrated in an acetone series and embedded in Reynolds' lead citrate for 3-10 minutes.

Ultrastructure of melanocyte-keratinocyte interactions and pigment transfer in vitro

1978 ◽  
Vol 36 (2) ◽  
pp. 650-651
Author(s):  
Raul I. Garcia ◽  
Evelyn A. Flynn ◽  
George Szabo
Keyword(s):  
Direct Injection ◽  
Skin Pigmentation ◽  
Freeze Fracture ◽  
Pigment Granule ◽  
Time Lapse ◽  
Ultrastructural Level ◽  
Lanthanum Tracer ◽  
A Cell

Skin pigmentation in mammals involves the interaction of epidermal melanocytes and keratinocytes in the structural and functional unit known as the Epidermal Melanin Unit. Melanocytes(M) synthesize melanin within specialized membrane-bound organelles, the melanosome or pigment granule. These are subsequently transferred by way of M dendrites to keratinocytes(K) by a mechanism still to be clearly defined. Three different, though not necessarily mutually exclusive, mechanisms of melanosome transfer have been proposed: cytophagocytosis by K of M dendrite tips containing melanosomes, direct injection of melanosomes into the K cytoplasm through a cell-to-cell pore or communicating channel formed by localized fusion of M and K cell membranes, release of melanosomes into the extracellular space(ECS) by exocytosis followed by K uptake using conventional phagocytosis. Variability in methods of transfer has been noted both in vivo and in vitro and there is evidence in support of each transfer mechanism. We Have previously studied M-K interactions in vitro using time-lapse cinemicrography and in vivo at the ultrastructural level using lanthanum tracer and freeze-fracture.

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