Development of force-feedback controlled Nafion micromanipulators

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)22_Publication in policy or professional journal

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Original languageEnglish
Pages (from-to)401-410
Journal / PublicationProceedings of SPIE - The International Society for Optical Engineering
Publication statusPublished - 2001
Externally publishedYes


TitleElectroactive Polymer, Actuators and Devices-Smart Structures and Materials 2001-
PlaceUnited States
CityNewport Beach, CA
Period5 - 8 March 2001


The ability to manipulation of biological cells while having reflective-force information from the cells is a key technology necessary for many new applications in Bio-MEMS, but is currently lacking in all cellular manipulators. We will report on our preliminary experimental work in using an Ionic Conducting Polymer Film (ICPF) to develop a biological cell robotic gripper with force sensing capability. ICPF actuators are able to give large deflection with small input voltage (∼5V), and also able to give relatively large output voltage due to deflection by a mechanical forces, thus are investigated as a possible material to make force-feedback controlled cellular manipulators in our work. A laser micromachining process is introduced to fabricate arrays of ICPF griping devices, which can be potentially integrated onto a substrate to develop a micro manipulation system. Individual multi-finger grippers with dimensions of 200μm × 200μm × 3000μm for each finger were realized. We will report on the design, fabrication procedures, and operating performance of these micro-grippers. Further development in the reduction of size of these actuators will enable effective force-feedback control of underwater micro objects and lead to new frontiers in cellular manipulation.

Research Area(s)

  • Cellular manipulation, Force-feedback micro manipulators, Micro aqueous actuators, Nafion actuators, Nafion sensors