The Experts below are selected from a list of 1251 Experts worldwide ranked by ideXlab platform
Philippe Lutz - One of the best experts on this subject based on the ideXlab platform.
-
high bandwidth Microgripper with integrated force sensors and position estimation for the grasp of multistiffness microcomponents
IEEE-ASME Transactions on Mechatronics, 2016Co-Authors: Bilal Komati, Cedric Clevy, Philippe LutzAbstract:At the microscale, small inertia and high dynamics of microparts increase the complexity of grasping, releasing, and positioning tasks. The difficulty increases especially because the position, the dimensions, and the stiffness of the micropart are unknown. In this paper, the use of a Microgripper with integrated sensorized end effectors with high dynamic capabilities is proposed to perform stable and accurate grasps of multistiffness microcomponents. A dynamic nonlinear force/position model of the complete Microgripper while manipulating a microcomponent is developed. The model takes into consideration not only free motion and constrained motion, but also, contact transitions which is a key issue at the microscale due to the predominance of surface forces. It enables us to estimate the position of the Microgripper's end effectors, the contact position of the microcomponent, and the force applied on the microcomponent. Using the proposed Microgripper and its model, both of the gripping forces are measured and the position of each of the Microgripper's end effectors is estimated. This enables to perform a stable grasp of the micropart by providing force and position feedback. Moreover, using the developed Microgripper and its model, the characterization of the microcomponent can be performed by estimating its dimensions and its stiffness.
-
interval force position modeling and control of a Microgripper composed of two collaborative piezoelectric actuators and its automation
International Journal of Control Automation and Systems, 2014Co-Authors: Sofiane Khadraoui, Micky Rakotondrabe, Philippe LutzAbstract:This paper deals with the modeling and control of a Microgripper devoted to micromanipulation and microassembly applications and tasks. Based on two collaborative piezoelectric actuators, the Microgripper is typified by a high sensitivity to the environment, in particular a high sensitivity to the properties of the manipulated objects. This sensitivity makes the behavior of the Microgripper variable and uncertain versus the environment and consequently makes the tasks lose performances. A possible way to overstep that problem is to model the Microgripper behavior and its dependency with the environment as perfect as possible and then calculate a controller from this. However, such model is complex to handle and the yielded controllers are often very complex for implementation. In this paper, we propose to use interval models to describe the behavior of the piezoelectric actuators that compose the Microgripper. Then a controllers synthesis consisting in combining interval techniques and classical control theory is proposed. Both the position and the force raised in the Microgripper are considered. The main advantages of the proposed technique are: 1) ease and natural way to model the uncertainties, 2) the robustness of the synthesized controllers, 3) and the derivation of low order controllers that are easier for implementation relative to those of classical robust control techniques. Finally, the paper presents the application of the controlled Microgripper to an automated pick-transport-andplace task of micro-objects. This automated task demonstrates the efficiency of the control technique in micromanipulation and microassembly applications.
-
An output feedback LPV control strategy of a nonlinear electrostatic Microgripper through a singular implicit modeling.
Control Engineering Practice, 2014Co-Authors: Mokrane Boudaoud, Yassine Haddab, Marcelo Gaudenzi De Faria, Yann Gorrec, Philippe LutzAbstract:The aim of the paper is the design and the analysis of a gain scheduled controller for an accurate and fast positioning with nanometer resolution of a nonlinear electrostatic Microgripper. The controller is designed to achieve a positioning of the gripping arm from few hundred nanometers to several tens of micrometers with some performance criteria. This very large operating range is crucial for a range of microrobotics applications and has never been addressed in existing control techniques of Microgrippers. The controller is designed considering noises that are relevant at the nanometer scale and nonlinearities that become significant at the micrometer scale. Therefore, a nonlinear model of the system is proposed and is reformulated into a polynomial LPV (Linear Parameter Varying) model. The most relevant source of noise to be considered for the controller synthesis is defined taking into account results from previous works. Considering the particular polynomial parametric dependence of the LPV model, a multivariable controller is designed using an affine LPV descriptor representation of the system and specific linear matrix inequalities. The efficiency of the controller and the relevance of the theoretical approach is demonstrated through experimental implementation results.
-
Automated Guiding Task of a Flexible Micropart Using a Two-Sensing-Finger Microgripper
IEEE Transactions on Automation Science and Engineering, 2013Co-Authors: Bilal Komati, Kanty Rabenorosoa, Cedric Clevy, Philippe LutzAbstract:This paper studies automated tasks based on hybrid force/position control of a flexible object at the microscale. A guiding task of a flexible micropart is the case of the study and is achieved by a two-sensing-finger Microgripper. An experimental model of the behavior of the Microgripper is given and the interaction forces are studied. Based on grasp stability, a guiding strategy taking into account the pull off forces is proposed. A specific control strategy using an external hybrid force/position control and taking into account microscale specificities is proposed. The experimental results of automated guiding task are presented.
-
modelling and robust position force control of a piezoelectric Microgripper
Conference on Automation Science and Engineering, 2007Co-Authors: Micky Rakotondrabe, Cedric Clevy, Philippe LutzAbstract:This paper deals with the control of a piezoelectric Microgripper based on two piezocantilevers. To avoid the destruction of the manipulated micro-object and to permit a high accurate positioning, the Microgripper is controlled on position and on force. Each piezocantilever is separately modelled and controlled: while the one is controlled on position, the second is controlled on force. Because the models are subjected to uncertainties and the micromanipulation requires good performances, a Hinfin robust controller is designed for each system. The experiments end the paper and show that good performances are obtained.
Yu Sun - One of the best experts on this subject based on the ideXlab platform.
-
Nanonewton Force Sensing and Control in
2016Co-Authors: Xinyu Liu, Keekyoung Kim, Yu Sun, Yong Zhang, Microrobotic CellAbstract:Cellular force sensing and control techniques are capable of en-hancing the dexterity and reliability of microrobotic cell manipula-tion systems. In this paper we present two experimental techniques for nanonewton force sensing and control in microrobotic cell ma-nipulation. A vision-based cellular force sensing approach, includ-ing a microfabricated elastic cell holding device and a sub-pixel vi-sual tracking algorithm, was developed for resolving forces down to 3.7 nN during microrobotic mouse embryo injection. The technique also experimentally demonstrated that the measured mechanical dif-ference could be useful for in situ differentiation of healthy mouse embryos from those with compromised developmental competence without requiring a separate mechanical characterization process. Centered upon force-controlled microrobotic cell manipulation, this paper also presents nanonewton force-controlled micrograsping of interstitial cells using a microelectromechanical systems (MEMS)-based Microgripper with integrated two-axis force feedback. On-chip force sensors are used for detecting contact between the Microgripper and cells to be manipulated (resolution: 38.5 nN at 15Hz) and sensing gripping forces (resolution: 19.9 nN at 15Hz) during force-controlled grasping. The experimental results demonstrate that the Microgripper and the control system are capable of rapid contact detection and re-liable force-controlled micrograsping to accommodate variations in size and stiffness of cells with a high degree of reproducibility. KEY WORDS—microrobotic cell manipulation, cellular force measurement, nanonewton force sensing and control, sub-pixel visual tracking, MEMS Microgripper, force feedbac
-
active release of microobjects using a mems Microgripper to overcome adhesion forces
IEEE\ ASME Journal of Microelectromechanical Systems, 2009Co-Authors: Brandon K Chen, Yong Zhang, Yu SunAbstract:Due to force scaling laws, large adhesion forces at the microscale make rapid accurate release of microobjects a long-standing challenge in pick-place micromanipulation. This paper presents a new microelectromechanical systems (MEMS) Microgripper integrated with a plunging mechanism to impact the microobject for it to gain sufficient momentum to overcome adhesion forces. The performance was experimentally quantified through the manipulation of 7.5-10.9-mum borosilicate glass spheres in an ambient environment under an optical microscope. Experimental results demonstrate that this Microgripper, for the first time, achieves a 100% successful release rate (based on 200 trials) and a release accuracy of 0.70 plusmn0.46 mum. Experiments with conductive and nonconductive substrates also confirmed that the release process is not substrate dependent. Theoretical analyses were conducted to understand the release principle. Based on this paper, further scaling down the end structure of this Microgripper will possibly provide an effective solution to the manipulation of submicrometer-sized objects.
-
nanonewton force controlled manipulation of biological cells using a monolithic mems Microgripper with two axis force feedback
Journal of Micromechanics and Microengineering, 2008Co-Authors: Keekyoung Kim, Xinyu Liu, Yu SunAbstract:As mechanical end-effectors, Microgrippers enable the pick–transport–place of micrometer-sized objects, such as manipulation and positioning of biological cells in an aqueous environment. This paper reports on a monolithic MEMS-based Microgripper with integrated force feedback along two axes and presents the first demonstration of force- controlled micro-grasping at the nanonewton force level. The system manipulates highly deformable biomaterials (porcine interstitial cells) in an aqueous environment using a Microgripper that integrates a V-beam electrothermal microactuator and two capacitive force sensors, one for contact detection (force resolution: 38.5 nN) and the other for gripping force measurements (force resolution: 19.9 nN). The MEMS-based Microgripper and the force control system experimentally demonstrate the capability of rapid contact detection and reliable force-controlled micrograsping to accommodate variations in size and mechanical properties of objects with a high reproducibility.
-
MicroNewton force-controlled manipulation of biomaterials using a monolithic MEMS Microgripper with two-axis force feedback
Proceedings - IEEE International Conference on Robotics and Automation, 2008Co-Authors: Keekyoung Kim, Xinyu Liu, Yu SunAbstract:This paper presents the first demonstration of force-controlled micrograsping at the microNewton force level. The system manipulates highly deformable biomaterials (hydrogel microcapsules and biological cells) in an aqueous environment using a MEMS-based Microgripper with integrated force feedback along two axes. The Microgripper integrates an electrothermal V-beam microactuator and two capacitive force sensors, one for contact detection (force resolution: 38.5 nN) and the other for gripping force measurements (force resolution: 19.9 nN). The MEMS-based Microgripper and the force control system experimentally demonstrate the capability of rapid contact detection and reliable force-controlled micrograsping to accommodate variations in sizes and mechanical properties of objects with a high reproducibility. Cell viability testing validated that the temperature at gripping arm tips does not exceed 50degC.
-
a superelastic alloy Microgripper with embedded electromagnetic actuators and piezoelectric force sensors a numerical and experimental study
Smart Materials and Structures, 2005Co-Authors: Deok Ho Kim, Moon Gu Lee, Byungkyu Kim, Yu SunAbstract:This paper presents the analysis, design, and characterization of a superelastic alloy (NiTi) Microgripper with integrated electromagnetic actuators and piezoelectric force sensors. The Microgripper, fabricated by electro-discharge machining, features force sensing capability, large force output, and large displacements to accommodate objects of various sizes. The design parameters for the embedded electromagnetic actuators were selected on the basis of finite element sensitivity analysis. In order to make the Microgripper capable of resolving gripping forces, piezoelectric force sensors were fabricated and integrated into the Microgripper. The performance of the Microgripper, the integrated force sensors, and the electromagnetic actuators was experimentally evaluated. A satisfactory match between experimental results and finite element simulations was obtained. Furthermore, comparison studies demonstrated that the superelastic alloy (NiTi) Microgripper was capable of producing larger displacement than a stainless steel Microgripper. Finally, experimental results of optical fiber alignment and the manipulation of tiny biological tissues with the superelastic Microgripper were presented.
Bilal Komati - One of the best experts on this subject based on the ideXlab platform.
-
high bandwidth Microgripper with integrated force sensors and position estimation for the grasp of multistiffness microcomponents
IEEE-ASME Transactions on Mechatronics, 2016Co-Authors: Bilal Komati, Cedric Clevy, Philippe LutzAbstract:At the microscale, small inertia and high dynamics of microparts increase the complexity of grasping, releasing, and positioning tasks. The difficulty increases especially because the position, the dimensions, and the stiffness of the micropart are unknown. In this paper, the use of a Microgripper with integrated sensorized end effectors with high dynamic capabilities is proposed to perform stable and accurate grasps of multistiffness microcomponents. A dynamic nonlinear force/position model of the complete Microgripper while manipulating a microcomponent is developed. The model takes into consideration not only free motion and constrained motion, but also, contact transitions which is a key issue at the microscale due to the predominance of surface forces. It enables us to estimate the position of the Microgripper's end effectors, the contact position of the microcomponent, and the force applied on the microcomponent. Using the proposed Microgripper and its model, both of the gripping forces are measured and the position of each of the Microgripper's end effectors is estimated. This enables to perform a stable grasp of the micropart by providing force and position feedback. Moreover, using the developed Microgripper and its model, the characterization of the microcomponent can be performed by estimating its dimensions and its stiffness.
-
Automated Guiding Task of a Flexible Micropart Using a Two-Sensing-Fingers Microgripper
2013Co-Authors: Bilal Komati, Kanty RabenorosoaAbstract:Abstract—This paper studies automated tasks based on hybrid force/position control of a flexible object at the microscale. A guiding task of a flexible micropart is the case of the study and is achieved by a two-sensing-finger Microgripper. An experimental model of the behavior of the Microgripper is given and the interaction forces are studied. Based on grasp stability, a guiding strategy taking into account the pull off forces is proposed. A specific control strategy using an external hybrid force/position control and taking into account microscale specificities is proposed. The experimental results of automated guiding task are presented. Note to Practitioners — This article’s motivation is the need of very precise positioning in micromanipulation and microassembly tasks. The guiding tasks are a part of the microassembly process. Such guiding tasks are rarely automated. This is mainly due to the fact that automation in the microworld is a new issue and the literature only concerns the local control of microactuators and microrobots for the moment. Hybrid force/position control is a promising approach to achieve an automated guiding task of the micropart. To detect the contact between the micropart and the rail, a two-sensing-finger Microgripper is used. The controller aims to release the contact and to continue going forward within the guiding axis. The proposed controller is very accurate, with high speed (low rejection time) and easy to implement. It is noticed that the proposed control scheme can also be applied to other microassembly tasks (pick-and-place, insertion, etc). Index Terms—Microassembly, hybrid force/position control, automated task, flexible micropart, compliant micropart, two-sensing-finger, Microgripper, gripping force, lateral contact, mi-crorobot control, microrobotics
-
Automated Guiding Task of a Flexible Micropart Using a Two-Sensing-Finger Microgripper
IEEE Transactions on Automation Science and Engineering, 2013Co-Authors: Bilal Komati, Kanty Rabenorosoa, Cedric Clevy, Philippe LutzAbstract:This paper studies automated tasks based on hybrid force/position control of a flexible object at the microscale. A guiding task of a flexible micropart is the case of the study and is achieved by a two-sensing-finger Microgripper. An experimental model of the behavior of the Microgripper is given and the interaction forces are studied. Based on grasp stability, a guiding strategy taking into account the pull off forces is proposed. A specific control strategy using an external hybrid force/position control and taking into account microscale specificities is proposed. The experimental results of automated guiding task are presented.
Cedric Clevy - One of the best experts on this subject based on the ideXlab platform.
-
high bandwidth Microgripper with integrated force sensors and position estimation for the grasp of multistiffness microcomponents
IEEE-ASME Transactions on Mechatronics, 2016Co-Authors: Bilal Komati, Cedric Clevy, Philippe LutzAbstract:At the microscale, small inertia and high dynamics of microparts increase the complexity of grasping, releasing, and positioning tasks. The difficulty increases especially because the position, the dimensions, and the stiffness of the micropart are unknown. In this paper, the use of a Microgripper with integrated sensorized end effectors with high dynamic capabilities is proposed to perform stable and accurate grasps of multistiffness microcomponents. A dynamic nonlinear force/position model of the complete Microgripper while manipulating a microcomponent is developed. The model takes into consideration not only free motion and constrained motion, but also, contact transitions which is a key issue at the microscale due to the predominance of surface forces. It enables us to estimate the position of the Microgripper's end effectors, the contact position of the microcomponent, and the force applied on the microcomponent. Using the proposed Microgripper and its model, both of the gripping forces are measured and the position of each of the Microgripper's end effectors is estimated. This enables to perform a stable grasp of the micropart by providing force and position feedback. Moreover, using the developed Microgripper and its model, the characterization of the microcomponent can be performed by estimating its dimensions and its stiffness.
-
Automated Guiding Task of a Flexible Micropart Using a Two-Sensing-Finger Microgripper
IEEE Transactions on Automation Science and Engineering, 2013Co-Authors: Bilal Komati, Kanty Rabenorosoa, Cedric Clevy, Philippe LutzAbstract:This paper studies automated tasks based on hybrid force/position control of a flexible object at the microscale. A guiding task of a flexible micropart is the case of the study and is achieved by a two-sensing-finger Microgripper. An experimental model of the behavior of the Microgripper is given and the interaction forces are studied. Based on grasp stability, a guiding strategy taking into account the pull off forces is proposed. A specific control strategy using an external hybrid force/position control and taking into account microscale specificities is proposed. The experimental results of automated guiding task are presented.
-
modelling and robust position force control of a piezoelectric Microgripper
Conference on Automation Science and Engineering, 2007Co-Authors: Micky Rakotondrabe, Cedric Clevy, Philippe LutzAbstract:This paper deals with the control of a piezoelectric Microgripper based on two piezocantilevers. To avoid the destruction of the manipulated micro-object and to permit a high accurate positioning, the Microgripper is controlled on position and on force. Each piezocantilever is separately modelled and controlled: while the one is controlled on position, the second is controlled on force. Because the models are subjected to uncertainties and the micromanipulation requires good performances, a Hinfin robust controller is designed for each system. The experiments end the paper and show that good performances are obtained.
Keekyoung Kim - One of the best experts on this subject based on the ideXlab platform.
-
Nanonewton Force Sensing and Control in
2016Co-Authors: Xinyu Liu, Keekyoung Kim, Yu Sun, Yong Zhang, Microrobotic CellAbstract:Cellular force sensing and control techniques are capable of en-hancing the dexterity and reliability of microrobotic cell manipula-tion systems. In this paper we present two experimental techniques for nanonewton force sensing and control in microrobotic cell ma-nipulation. A vision-based cellular force sensing approach, includ-ing a microfabricated elastic cell holding device and a sub-pixel vi-sual tracking algorithm, was developed for resolving forces down to 3.7 nN during microrobotic mouse embryo injection. The technique also experimentally demonstrated that the measured mechanical dif-ference could be useful for in situ differentiation of healthy mouse embryos from those with compromised developmental competence without requiring a separate mechanical characterization process. Centered upon force-controlled microrobotic cell manipulation, this paper also presents nanonewton force-controlled micrograsping of interstitial cells using a microelectromechanical systems (MEMS)-based Microgripper with integrated two-axis force feedback. On-chip force sensors are used for detecting contact between the Microgripper and cells to be manipulated (resolution: 38.5 nN at 15Hz) and sensing gripping forces (resolution: 19.9 nN at 15Hz) during force-controlled grasping. The experimental results demonstrate that the Microgripper and the control system are capable of rapid contact detection and re-liable force-controlled micrograsping to accommodate variations in size and stiffness of cells with a high degree of reproducibility. KEY WORDS—microrobotic cell manipulation, cellular force measurement, nanonewton force sensing and control, sub-pixel visual tracking, MEMS Microgripper, force feedbac
-
nanonewton force controlled manipulation of biological cells using a monolithic mems Microgripper with two axis force feedback
Journal of Micromechanics and Microengineering, 2008Co-Authors: Keekyoung Kim, Xinyu Liu, Yu SunAbstract:As mechanical end-effectors, Microgrippers enable the pick–transport–place of micrometer-sized objects, such as manipulation and positioning of biological cells in an aqueous environment. This paper reports on a monolithic MEMS-based Microgripper with integrated force feedback along two axes and presents the first demonstration of force- controlled micro-grasping at the nanonewton force level. The system manipulates highly deformable biomaterials (porcine interstitial cells) in an aqueous environment using a Microgripper that integrates a V-beam electrothermal microactuator and two capacitive force sensors, one for contact detection (force resolution: 38.5 nN) and the other for gripping force measurements (force resolution: 19.9 nN). The MEMS-based Microgripper and the force control system experimentally demonstrate the capability of rapid contact detection and reliable force-controlled micrograsping to accommodate variations in size and mechanical properties of objects with a high reproducibility.
-
MicroNewton force-controlled manipulation of biomaterials using a monolithic MEMS Microgripper with two-axis force feedback
Proceedings - IEEE International Conference on Robotics and Automation, 2008Co-Authors: Keekyoung Kim, Xinyu Liu, Yu SunAbstract:This paper presents the first demonstration of force-controlled micrograsping at the microNewton force level. The system manipulates highly deformable biomaterials (hydrogel microcapsules and biological cells) in an aqueous environment using a MEMS-based Microgripper with integrated force feedback along two axes. The Microgripper integrates an electrothermal V-beam microactuator and two capacitive force sensors, one for contact detection (force resolution: 38.5 nN) and the other for gripping force measurements (force resolution: 19.9 nN). The MEMS-based Microgripper and the force control system experimentally demonstrate the capability of rapid contact detection and reliable force-controlled micrograsping to accommodate variations in sizes and mechanical properties of objects with a high reproducibility. Cell viability testing validated that the temperature at gripping arm tips does not exceed 50degC.