A Force and Displacement Self-Sensing Piezoelectric MRI-Compatible Tweezer End Effector with an On Site Calibration Procedure

Copyright © IEEEDOI: http://dx.doi.org/10.1109/TMECH.2013.2257827Copyright © IEEEThis paper describes a self-sensing technique for a piezoelectrically driven magnetic resonance imaging (MRI)-compatible tweezer style end effector, suitable for robot assisted MRI guided surgery. Nested strain amplification mechanisms are used to amplify the displacement of the piezo actuators to practical levels for robotics. By using a hysteretic piezoelectric model and a two port network model for the compliant nested strain amplifiers, it is shown that force and displacement at the tweezer tip can be estimated if the input voltage and charge are measured. One piezo unit is used simultaneously as a sensor and an actuator, preserving the full actuation capability of the device. An on-site calibration procedure is proposed that calibrates the combined electromechanical model without requiring specific loading conditions on the inner piezoelectric actuators. Experimental validation shows an average of 12% error between the self-sensed and true values

Design, characterisation and testing of SU8 polymer based electrothermal microgrippers

Microassembly systems are designed to combine micro-component parts with high accuracy. These micro-components are fabricated using different manufacturing processes in sizes of several micrometers. This technology is essential to produce miniaturised devices and equipment, especially those built from parts requiring different fabrication procedures. The most important task in microassembly systems is the manipulator, which should have the ability to handle and control micro-particles. Different techniques have been developed to carry out this task depending on the application, required accuracy, and cost. In this thesis, the most common methods are identified and briefly presented, and some advantages and disadvantages are outlined. A microgripper is the most important device utilized to handle micro-objects with high accuracy. However, it is a device that can be used only in sequential microassembly techniques. It has the potential to become the most important tool in the field of micro-robotics, research and development, and assembly of parts with custom requirements. Different actuation mechanisms are employed to design microgrippers such as electromagnetic force, electrostatic force, piezoelectric effect, and electrothermal expansions. Also, different materials are used to fabricate these microgrippers, for example metals, silicon, and polymers such as SU-8. To investigate the limitation and disadvantages of the conventional SU-8 electrothermal based microgrippers, different devices designed and fabricated at IMT, Romania, were studied. The results of these tests showed a small end-effector displacement and short cycling on/off (lifetime). In addition, the actuator part of these microgrippers was deformed after each operation, which results in reduced displacement and inconsistent openings at off state every time it was operated in a power ON/OFF cycle. One of these limitations was caused by the existence of conductors in arms of the end-effectors. These conductor designs have two disadvantages: firstly, it raises temperature in the arms and causing an expansion in the opposite direction of the desired displacement. Secondly, since the conductors pass through the hinges, they should be designed wide enough to reduce the conductor resistance as much as possible. Therefore, the wider the hinges are, the higher the in-plane stiffness and the less out of plane deflection. As a result, it increases the reaction force of the arm reducing the effect of deformation. Based on these limitations a new actuatorstructure of L-shape was proposed to reduce the effects of these drawbacks. This actuator has no conductor in the hinges or the arms of the end-effectors which reduce limitation on the hinge width. . In addition, a further development of this actuator was proposed to increase the stiffness of the actuator by doubling its thickness compared with the other parts of the griper. The results of this actuator proved the improvement in performance and reduction of the actuator deformation. This new actuator structure was used to design several different microgrippers with large displacement and suitable for a wide range of applications. Demonstrations of the capabilities of the microgrippers to be used in microassembly are presented. In addition, a novel tri-directional microactuator is proposed in this thesis. This actuator’s end-effector is capable of displacements in three different directions. This actuator was used with the other designs to develop a novel three-arm (three fingers) multidirectional microgripper. To study the microgripper displacement as a function to the heater temperature, the TCR of the conductor layer of each device was measured. Because different configurations of conductor layers were studied, a significant effect of the metal layer structure on TCR was discovered. The TCR value of gold film is reduced significantly by adding the chromium layers below and about it which were used to improve the adhesion between the gold film and the SU layers. In this thesis, a new method based on a robotic system was developed to characterise these microgrippers and to study the steady state, dynamic response, and reliability (lifetime cycling on/off). An electronic interface was developed and integrated to the robotic system to control and drive the microgrippers. This new system was necessary to carry out automated testing of the microgrippers with accurate and reliable results. Four different new groups of microgrippers were designed and studied. The first group was indirectly actuated using an L-Shaped actuator and two different actuator widths. The initial opening was 120 μm for both designs. The maximum displacement was about 140 μm for both designs. However, the actuator in the wider heater width showed more stable behavior during the cycling and the dynamic tests. The second group was based on direct actuation approach using the L-Shaped actuator. There were eight different designs based on this method with different heater conductor shape, actuator width, and arm thickness. The initial opening was 100 μm and there were different displacements for the eight designs. The study of these microgrippers proved that the actuator stiffness has a significant effect on the microgripper displacement. In addition, the shape of the heater conductor has less effect. The largest displacement achieved using this method of design was about 70 μm. The third group was designed for dual mode operation and has three different designs. The initial openings were 90 μm and 250 μm. The displacement was about 170 μm in both modes. The last microgripper design was a tri-arm design for multi-mode operation. The lifetime study of SU8 based microgrippers in this thesis was the first time such an investigation was carried out. The results of IMT designs showed that the larger is the displacement the less stable is the gripper design because of the high rection force acting on the actuators. The L-shape based microgrippers had better performance and they did not break after more than 400 cycles. In addition, the studies of static displacement and dynamic response of different designed microgripper proved that better performance of the proposed actuator can be obtained by using double thickness for the actuator as compared to the arm thickness

Haptics Rendering and Applications

There has been significant progress in haptic technologies but the incorporation of haptics into virtual environments is still in its infancy. A wide range of the new society's human activities including communication, education, art, entertainment, commerce and science would forever change if we learned how to capture, manipulate and reproduce haptic sensory stimuli that are nearly indistinguishable from reality. For the field to move forward, many commercial and technological barriers need to be overcome. By rendering how objects feel through haptic technology, we communicate information that might reflect a desire to speak a physically- based language that has never been explored before. Due to constant improvement in haptics technology and increasing levels of research into and development of haptics-related algorithms, protocols and devices, there is a belief that haptics technology has a promising future

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, held in Leiden, The Netherlands, in September 2020. The 60 papers presented in this volume were carefully reviewed and selected from 111 submissions. The were organized in topical sections on haptic science, haptic technology, and haptic applications. This year's focus is on accessibility

Haptics: Science, Technology, Applications

This open access book constitutes the proceedings of the 12th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2020, held in Leiden, The Netherlands, in September 2020. The 60 papers presented in this volume were carefully reviewed and selected from 111 submissions. The were organized in topical sections on haptic science, haptic technology, and haptic applications. This year's focus is on accessibility

A study of protein-DNA interactions using atomic force microscopy and DNA origami

The development and application of genome editing tools has accelerated in recent years. However, their widespread application, especially in the medical field, is delayed for various issues with the safety of the tools being one of the top concerns. Much of the detail of how proteins find their target sites and how they cleave at the sites remains unclear. Despite much progress in lab environments, where the tolerance for imprecise cutting is relatively high, in vivo treatment remains difficult. Most genome editing tools are derived from naturally occurring regulatory proteins. Better understanding of the mechanisms used by these natural proteins should facilitate the use of genome editing tools. In nature, gene regulation is usually sparked by a change in the cellular environment, such as viruses invading a bacterium. Restriction enzymes defend the host bacteria by recognising specific sites on the viral DNA and cutting invading viruses at those sites. We aim first to understand how these proteins translocate along the viral DNA molecules toward their recognition sites, and then to see how their accuracy of cleavage can be increased. Protein translocation along DNA molecules has been studied for more than 40 years. Atomic force microscopy in fluid mode allows direct observation of protein/DNA interactions. This application is about twenty years old but most of the images taken, lack the spatial and temporal resolution for quantitative studies of protein translocation dynamics. Here we achieve second-level and nanometre-scale tracking of the translocation of EcoRV, a Type IIP restriction enzyme, using fast-scan atomic force microscopy (AFM) and DNA origami techniques. We find that EcoRV tends to jump toward its recognition site from afar and then switch to slow sliding mode when it is within about 20 base pairs of its recognition site. Our methods demonstrate how BcgI, a type IIB restriction enzyme, brings together two recognition sites both in cis and in trans before cleavage, minimising mis-cleavage at a single recognition site. We show that the collision looping model is valid but not the sliding model. The two restriction enzymes were chosen as they represent different model systems of typical restriction enzymes. Our methods will be useful in studies of other types of restriction enzymes and other proteins or protein complexes that interact with DNA. We expect that these methods will see broader applications in studies of protein-DNA interactions. We also hope that our studies will contribute to the safe application of the genome-editing tools in medical contexts.Cambridge Trus

A Bio-Assembly, Mosaic Building, and Informatics System for Cell Biology

In the field of regenerative medicine, there is a need to develop technologies that can increase the overall efficiency of imaging and expanding cells in culture and in complex heterogeneous arrangements necessary for tissue construction. Long-term live cell imaging has the potential to significantly enhance our understanding of intercellular signaling pathways and the dependence of phenotype on cell arrangement. A transdisciplinary approach has been taken to bridge the fields of cell biology, robotics, and photonics to create a long-term live cell imaging system capable of single cell handling as well as the acquisition of multiple types of data needed for data mining and a general informatics approach to cell culture. A Bio-Assembly Mosaic Builder and Informatics (BAMBI) system was designed and developed using custom software to control a 3-axis stage manufactured by Galil Inc, and custom 1-axis micromanipulator for robotic operations. The software also employs a Sony charged-coupled device sensor for real-time image feedback and data acquisition. The system is mounted on a Carl Zeiss Axiovert 200 inverted microscope. Custom-built environmental controls are used to maintain the temperature, humidity, and gas conditions for extended live cell work. The software was designed using Visual C++ for the Windows PC platform using an object orientated and modular design methodology to allow the BAMBI software to continue to grow with new tasks and demands as needed. The modular approach keeps functional groups of code within context boundaries allowing for easy removal, addition, or changes of functions without compromising the usability of the whole system. BAMBI has been used to image cells within a novel cell culture chamber that constricts cell growth to a true monolayer for high-resolution imaging. In one specific application, BAMBI was also used to characterize and track the development of individual Colony Forming Units (CFU) over the five-day culture period in 5-day CFU-Hill colony assays. The integrated system successfully enabled the tracking and identification of cell types responsible for the formation of the CFU-Hill colonies (a putative endothelial stem cell). BAMBI has been used to isolate single hematopoietic stem cell (HSC) candidate cells, accumulate long-term live cell images, and then return these cells back to the in-vivo environment for further characterization. From these results, further data mining and lineage informatics suggested a novel way to isolate and purify HSCs. Studies such as these are the fundamental next step in developing new therapies for regenerative medicine in the future

Liquid Metal Printing with Scanning Probe Lithography for Printed Electronics

In den letzten Jahren hat das „Internet der Dinge“ (Englisch Internet of Things, abgekürzt IoT), das auch als Internet of Everything (Deutsch frei „Internet von Allem“) bezeichnet wird, mit dem Aufkommen der „Industrie 4.0“ einen Strom innovativer und intelligenter sensorgestützter Elektronik der neuen Generation in den Alltag gebracht. Dies erfordert auch die Herstellung einer riesigen Anzahl von elektronischen Bauteilen, einschließlich Sensoren, Aktoren und anderen Komponenten. Gleichzeitig ist die herkömmliche Elektronikfertigung zu einem hochkomplexen und investitionsintensiven Prozess geworden. In dem Maße, wie die Zahl der elektronischen Bauteile und die Nachfrage nach neuen, fortschrittlicheren elektronischen Bauteilen zunimmt, steigt auch die Notwendigkeit, effizientere und nachhaltigere Wege zur Herstellung dieser Bauteile zu finden. Die gedruckte Elektronik ist ein wachsender Markt, der diese Nachfrage befriedigen und die Zukunft der Herstellung von elektronischen Geräten neu gestalten könnte. Sie erlaubt eine einfache und kostengünstige Produktion und ermöglicht die Herstellung von Geräten auf Papier- oder Kunststoffsubstraten. Für die Herstellung gibt es dabei eine Vielzahl von Methoden. Techniken auf der Grundlage der Rastersondenlithografie waren dabei schon immer Teil der gedruckten Elektronik und haben zu Innovationen in diesem Bereich geführt. Obwohl die Technologie noch jung ist und der derzeitige Stand der gedruckten Elektronik im industriellen Maßstab, wie z. B. die Herstellung kompletter integrierter Schaltkreise, stark limitiert ist, sind die potenziellen Anwendungen enorm. Im Mittelpunkt der Entwicklung gedruckter elektronischer Schaltungen steht der Druck leitfähiger und anderer funktionaler Materialien. Die meisten der derzeit verfügbaren Arbeiten haben sich dabei auf die Verwendung von Tinten auf Nanopartikelbasis konzentriert. Die Herstellungsschritte auf der Grundlage von Tinten auf Nanopartikelbasis sind komplizierte Prozesse, da sie das Ausglühen (Englisch Annealing) und weitere Nachbearbeitungsschritte umfassen, um die gedruckten Muster leitfähig zu machen. Die Verwendung von Gallium-basierten, bei/nahe Raumtemperatur flüssigen Metallen und deren direktes Schreiben für vollständig gedruckte Elektronik ist immer noch ungewöhnlich, da die Kombination aus dem Vorhandensein einer Oxidschicht, hohen Oberflächenspannungen und Viskosität ihre Handhabung erschwert. Zu diesem Zweck zielt diese Arbeit darauf ab, Methoden zum Drucken von Materialien, einschließlich Flüssigmetallen, zu entwickeln, die mit den verfügbaren Druckmethoden nicht oder nur schwer gedruckt werden können und diese Methoden zur Herstellung vollständig gedruckter elektronischer Bauteile zu verwenden. Weiter werden Lösungen für Probleme während des Druckprozesses untersucht, wie z. B. die Haftung der Tinte auf dem Substrat und andere abscheidungsrelevante Aspekte. Es wird auch versucht, wissenschaftliche Fragen zur Stabilität von gedruckten elektronischen Bauelementen auf Flüssigmetallbasis zu beantworten. Im Rahmen der vorliegenden Arbeit wurde eine auf Glaskapillaren basierenden Direktschreibmethode für das Drucken von Flüssigmetallen, hier Galinstan, entwickelt. Die Methode wurde auf zwei unterschiedlichen Wegen implementiert: Einmal in einer „Hochleistungsversion“, basierend auf einem angepassten Nanolithographiegerät, aber ebenfalls in einer hochflexiblen, auf Mikromanipulatoren basierenden Version. Dieser Aufbau erlaubt einen on-the-fly („im Fluge“) kapillarbasierten Druck auf einer breiten Palette von Geometrien, wie am Beispiel von vertikalen, vertieften Oberflächen sowie gestapelten 3D-Gerüsten als schwer zugängliche Oberflächen gezeigt wird. Die Arbeit erkundet den potenziellen Einsatz dieser Methode für die Herstellung von vollständig gedruckten durch Flüssigmetall ermöglichten Bauteilen, einschließlich Widerständen, Mikroheizer, p-n-Dioden und Feldeffekttransistoren. Alle diese elektronischen Bauelemente werden ausführlich charakterisiert. Die hergestellten Mikroheizerstrukturen werden für temperaturgeschaltete Mikroventile eingesetzt, um den Flüssigkeitsstrom in einem Mikrokanal zu kontrollieren. Diese Demonstration und die einfache Herstellung zeigt, dass das Konzept auch auf andere Anwendungen, wie z.B. die bedarfsgerechte Herstellung von Mikroheizern für in-situ Rasterelektronenmikroskop-Experimente, ausgeweitet werden kann. Darüber hinaus zeigt diese Arbeit, wie PMMA-Verkapselung als effektive Barriere gegen Sauerstoff und Feuchtigkeit fungiert und zusätzlich als brauchbarer mechanischer Schutz der auf Flüssigmetall basierenden gedruckten elektronischen Bauteile wirken kann. Insgesamt zeigen der alleinstehende, integrierte Herstellungsablauf und die Funktionalität der Geräte, dass das Potenzial des Flüssigmetall-Drucks in der gedruckten Elektronik viel größer ist als einzig die Verwendung zur Verbindung konventioneller elektronischer Bauteile. Neben der Entwicklung von Druckverfahren und der Herstellung elektronischer Bauteile befasst sich die Arbeit auch mit der Korrosion und der zusätzlichen Legierung von konventionellen Metallelektroden in Kontakt mit Flüssigmetallen, welche die Stabilität der Bauteil beinträchtigen könnten. Zu diesem Zweck wurde eine korrelierte Materialinteraktionsstudie von gedruckten Galinstan- und Goldelektroden durchgeführt. Durch die kombinierte Anwendung von optischer Mikroskopie, vertikaler Rasterinterferometrie, Rasterelektronenmikroskopie, Röntgenphotonenspektroskopie und Rasterkraftmikroskopie konnte der Ausbreitungsprozess von Flüssigmetalllinien auf Goldfilmen eingehend charakterisiert werden. Diese Studie zeigt eine unterschiedliche Ausbreitung der verschiedenen Komponenten des Flüssigmetalls sowie die Bildung von intermetallischen Nanostrukturen auf der umgebenden Goldfilmoberfläche. Auf der Grundlage der erhaltenen zeitabhängigen, korrelierten Charakterisierungsergebnisse wird ein Modell für den Ausbreitungsprozess vorgeschlagen, das auf dem Eindringen des Flüssigmetalls in den Goldfilm basiert. Um eine ergänzende Perspektive auf die interne Nanostruktur zu erhalten, wurde die Röntgen-Nanotomographie eingesetzt, um die Verteilung von Gold, Galinstan und intermetallischen Phasen in einem in das Flüssigmetall getauchten Golddraht zu untersuchen. Schlussendlich werden Langzeitmessungen des Widerstands an Flüssigmetallleitungen, die Goldelektroden verbinden, durchgeführt, was dazu beiträgt, die Auswirkungen von Materialwechselwirkungen auf elektronische Anwendungen zu bewerten

Dynamics and force generation of flagellum and pili in Caulobacter crescentus

Surface attachment of bacteria is the first step of biofilm formation and biofilms are associated with infections and bacterial resistance. Surface attachment of bacteria is often mediated by extracellular appendages, for example flagellum and pili. The flagellum is a cork-screw like structure used for swimming and surface sensing. Pili are filamentous structures and have a wide variety of functions, among them attachment on surfaces. Because of the small diameter of flagellum and pili, direct observations of flagellum and pili are challenging under physiological conditions. C. crescentus, a model organism for biofilm formation, has an asymmetric life cycle. The sessile and stalked mother cell produces a motile daughter cell that is equipped with a flagellum and pili at the free pole. In this work we investigated the dynamics and force generation of the flagellum and pili of C. crescentus under physiological conditions employing a label-free method