A Monolithic Force-Sensitive 3D Microgripper Fabricated on the Tip of an Optical Fiber Using 2-Photon Polymerization

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Maura PowerGuang-Zhong Yang

Abstract

Microscale robotic devices have myriad potential applications including drug delivery, biosensing, cell manipulation, and microsurgery. In this work, a tethered, 3D, compliant grasper with an integrated force sensor is presented, the entirety of which is fabricated on the tip of an optical fiber in a single-step process using 2-photon polymerization. This gripper can prove useful for the interrogation of biological microstructures such as alveoli, villi, or even individual cells. The position of the passively actuated grasper is controlled via micromanipulation of the optical fiber, and the microrobotic device measures approximately 100 µm in length and breadth. The force estimation is achieved using optical interferometry: high-dimensional spectral readings are used to train artificial neural networks to predict the axial force exerted on/by the gripper. The design, characterization, and testing of the grasper are described and its real-time force-sensing capability with an accuracy below 2.7% of the maximum calibrated force is demonstrated.

References

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Oct 11, 2012·Advanced Materials·Evin GultepeDavid H Gracias
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Jul 1, 2017·Frontiers in Mechanical Engineering·Arijit GhoshDavid H Gracias

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Citations

Mar 13, 2019·Macromolecular Rapid Communications·Dong YangYan Li
Aug 17, 2019·Biomedical Microdevices·Chao YinMinglin Li
Jul 2, 2019·Nano Convergence·ChangKyu Yoon
Jan 8, 2020·Micromachines·Peishuai SongXiaodong Wang
Jun 11, 2020·Science Advances·Antoine BarbotGuang-Zhong Yang
Jan 21, 2021·Chemical Society Reviews·Jinhua Li, Martin Pumera
Sep 25, 2019·Science Robotics·Antoine BarbotGuang-Zhong Yang
Sep 17, 2020·Science Advances·Antoine BarbotGuang-Zhong Yang
Jun 1, 2021·Research : a Science Partner Journal·Qianying ChenHuiling Duan
May 25, 2021·Advanced Science·Antoine BarbotGuang-Zhong Yang
Jun 18, 2021·Frontiers in Chemistry·Qinchao ZhengFanfan Fu
Sep 6, 2019·ACS Applied Materials & Interfaces·Bing LiGuang-Zhong Yang
Jun 5, 2020·ACS Applied Materials & Interfaces·Cong XiongYiping Wang
Feb 11, 2020·ACS Applied Materials & Interfaces·Chee Leng LayXing Yi Ling
Aug 29, 2021·Light, Science & Applications·Mengqiang ZouYiping Wang

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