PWM Controlled Suction-and-Exhalation Master-Slave System for Micro-Manipulation

Yuki Shirato; Hiromi Mochiyama; Hisato Kobayashi; Junya Tatsuno; Hiroyuki Kawai

doi:10.20965/jrm.2011.p0393

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JRM Vol.23 No.3 pp. 393-399

doi: 10.20965/jrm.2011.p0393

(2011)

Paper:

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PWM Controlled Suction-and-Exhalation Master-Slave System for Micro-Manipulation

Yuki Shirato^1, Hiromi Mochiyama^1, Hisato Kobayashi^2,
Junya Tatsuno^3, and Hiroyuki Kawai^*4

^*1Department of Intelligent Interaction Technologies, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

^*2Faculty of Engineering and Design, Hosei University, 2-17-1 Fujimi, Chiyoda-ku, Tokyo 102-8160, Japan

^*3Department of Mechanical Engineering, Kinki University, 1 Takeya-Umenobe, Higashi-Hiroshima, Hiroshima 739-2116, Japan

^*4Department of Robotics, Kanazawa Institute of Technology, 7-1 Ohgigaoka, Nonoichi, Ishikawa 921-8501, Japan

Received:

September 27, 2010

Accepted:

April 13, 2011

Published:

June 20, 2011

Keywords:

micromanipulation, micromanipulator, master-slave system

Abstract

The master-slave suction/exhalation we proposed for micromanipulation enables remote operation between a master and slave. Specifically, solenoid valves connected to pressure sources controlled by Pulse Width Modulation (PWM) generate suction or exhalation at the end of a straw based on an air flow generated by an operator. Our exploration of its basic performance, i.e., force generation capability and response, demonstrates its micromanipulation potential.

Cite this article as:

Y. Shirato, H. Mochiyama, H. Kobayashi, J. Tatsuno, and H. Kawai, “PWM Controlled Suction-and-Exhalation Master-Slave System for Micro-Manipulation,” J. Robot. Mechatron., Vol.23 No.3, pp. 393-399, 2011.

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References

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[2] J. W. Jorgenson and K. D. Lukacs, “Free-Zone Electrophoresis in Glass Capillaries,” Clinical Chemistry, Vol.27, pp. 1551-1553, 1981.
[3] S.Masuda, M.Washizu, and M. Iwadare, “Separation of Small Particles Suspended in Liquid by Non-uniform Travelling Field,” IEEE Trans. on Industry Applications, Vol.23, pp. 474-480, 1987.
[4] V. Lund, R. Schmid, D. Rickwood, F. Robbiati, and E. Homes, “Assessment of Methods for Covalent Binding of Nucleic Acids to Magnetic Beads, Dynabeads^TM, and the Characteristics of the Bound Nucleic Acids in Hybridization Reactions,” Nucleic Acids Research, Vol.16, pp. 10861-10880, 1988.
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[6] E. V. Poorten, T. Kanno, and Y. Yokokohji, “Robust Variable-Scale Bilateral Control for Micro Teleoperation,” Proc. of the 2008 IEEE Int. Conf. on Robotics and Automation (ICRA2008), pp. 655-662, 2008.
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[8] Y. Yamanishi, S. Sakuma, K. Onda, and F. Arai, “Biocompatible Polymeric Magnetically Driven Microtool for Particle Sorting,” J. of Micro-Nano Mechatronics, Vol.4, pp. 49-57, 2008.
[9] Y. Shirato, H.Mochiyama, H. Kobayashi, J. Tatsuno, and H. Kawai, “Micro-Manipulation System with Straw Interface based on Body Image Embedding,” Proc. of The First IFToMM Asian Conf. on Mechanism and Machine Science (Asian-MMS2010), 2010.
[10] H. Mochiyama, Y. Shirato, H. Kobayashi, J. Tatsuno, and H. Kawai, “Bio-manipulation with a Robotic Straw,” Proc. of the 2010 Int. Symposium on Micro-NanoMechatronics and Human Science (MHS2010), pp. 290-295, 2010.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] A. Ashkin, J. M. Dziedzic, J. E. Bjorkholm, and Steven Chu, “Observation of a Single-Beam Gradient Force Optical Trap for Dielectric Particles,” Optical Letteres, Vol.11, pp, 288-290, 1986.

[2] [2] J. W. Jorgenson and K. D. Lukacs, “Free-Zone Electrophoresis in Glass Capillaries,” Clinical Chemistry, Vol.27, pp. 1551-1553, 1981.

[3] [3] S.Masuda, M.Washizu, and M. Iwadare, “Separation of Small Particles Suspended in Liquid by Non-uniform Travelling Field,” IEEE Trans. on Industry Applications, Vol.23, pp. 474-480, 1987.

[4] [4] V. Lund, R. Schmid, D. Rickwood, F. Robbiati, and E. Homes, “Assessment of Methods for Covalent Binding of Nucleic Acids to Magnetic Beads, Dynabeads^TM, and the Characteristics of the Bound Nucleic Acids in Hybridization Reactions,” Nucleic Acids Research, Vol.16, pp. 10861-10880, 1988.

[5] [5] J. Shi, D. Ahmed, X. Mao, S. S. Lin, A. Lawit, and T. J. Huang, “Acoustic Tweezers: Patterning Cells and Microparticles using Standing Surface Acoustic Waves (SSAW),” Lab on a Chip, Vol.9, pp. 2890-2895, 2009.

[6] [6] E. V. Poorten, T. Kanno, and Y. Yokokohji, “Robust Variable-Scale Bilateral Control for Micro Teleoperation,” Proc. of the 2008 IEEE Int. Conf. on Robotics and Automation (ICRA2008), pp. 655-662, 2008.

[7] [7] T. Tanikawa and T. Arai, “Development of a Micro-Manipulation System Having a Two-Fingered Micro-Hand,” IEEE Trans. on Robotics and Automation, Vol.15, pp. 152-162, 1999.

[8] [8] Y. Yamanishi, S. Sakuma, K. Onda, and F. Arai, “Biocompatible Polymeric Magnetically Driven Microtool for Particle Sorting,” J. of Micro-Nano Mechatronics, Vol.4, pp. 49-57, 2008.

[9] [9] Y. Shirato, H.Mochiyama, H. Kobayashi, J. Tatsuno, and H. Kawai, “Micro-Manipulation System with Straw Interface based on Body Image Embedding,” Proc. of The First IFToMM Asian Conf. on Mechanism and Machine Science (Asian-MMS2010), 2010.

[10] [10] H. Mochiyama, Y. Shirato, H. Kobayashi, J. Tatsuno, and H. Kawai, “Bio-manipulation with a Robotic Straw,” Proc. of the 2010 Int. Symposium on Micro-NanoMechatronics and Human Science (MHS2010), pp. 290-295, 2010.

PWM Controlled Suction-and-Exhalation Master-Slave System for Micro-Manipulation

Yuki Shirato*1, Hiromi Mochiyama*1, Hisato Kobayashi*2, Junya Tatsuno*3, and Hiroyuki Kawai*4

Yuki Shirato^1, Hiromi Mochiyama^1, Hisato Kobayashi^2,
Junya Tatsuno^3, and Hiroyuki Kawai^*4