Various types of actuation methods for intravascular locomotive microrobot have been proposed and demonstrated. Among the actuation methods, electromagnetic based actuation (EMA) was considered as a promising mechanism. In generally, planar EMA systems for 2 dimensional movement of the microrobot were proposed and demonstrated. In this paper, we present 3 dimensional (D) EMA systems for the 3D ...

It is our purpose to develop an underwater microrobot that has the characteristics of flexibility, driven by a low voltage, good response and safety in body. We have reported an underwater fish-like microrobot with 2 DOF that has the characteristics of flexibility, good response and safety in body before. In this paper, we propose a new prototype model of an underwater microrobot utilizing ICPF...

An omnidirectional mobile microrobot realized by microelectromechanical system (MEMS) actuator arrays is presented. The microrobot consists of two rigidly connected microcilia array chips, each having an 8 8 array of “motion pixels,” which are composed of four orthogonally oriented thermal bimorph actuators. This allows for reliable, accurate motion in three degrees of freedom (x;y;θ) in the pl...

microrobot with a gas combustion mechanism and buoyant outriggers. These design components stabilized the microrobot, overcoming the water’s surface tension to allow take-off. A surfactant coating enabled diving, and a flapping-wing configuration provided functional propulsion for both air and water environments. The microrobot could land on an elastic surface, hover in air, submerge into water...

Mini and micro robots, which can swim in an underwater environment, have drawn widespread research interests because of their potential applications to the clinical drug delivery, biotechnology, manufacturing, mobile sensor networks, etc. In this paper, a prototype of microrobot based on the motion principle of living microorganisms such as E. Coli Bacteria is presented. The properties of this ...

This paper presents the analytical and experimental results on a new haptic telemanipulation environment for microrobot control. The proposed environment is comprised of a 5DOF force feedback mechanism, acting as the master, and a 2DOF microrobot, acting as the slave. The fact that the slave microrobot is driven by two centripetal force vibration micromotors makes the presented telemanipulation...

Recently, coronary artery disease such as angina pectoris and myocardial infarction has become the major causes of death. As a method of medical treatment for the disease, the pharmacological approaches and the surgical operations are executed. Especially, percutaneous coronary intervention (PCI) using catheters are the mostly preferred treatment for coronary artery diseases. The PCI technologi...

Medical microrobots have been widely used in clinical applications, particularly the spiral type locomotion mechanism, which was recently considered one of the main self-propelling mechanisms for the next medical microrobot to perform tasks such as capsule endoscopy and drug delivery. However, limits in clinical applications still exist. The spiral action of the microrobot while being used for ...

In this paper, we report the hexapod type micro robot controlled by the neural networks. MEMS (Micro Electro Mechanical System) technology that based on the semiconductor process is used for fabrication of the microrobot. The rotational actuator is composed of four artificial muscle wires that is family of SMA (shape memory alloy). The power type bare chip IC is used for neural networks control...

The development of microrobots on a millimeter scale has recently received much attention. The environments in which these robots are supposed to operate are narrow and potentially complicated spaces, such as micro-factory, blood vessel, and micro-satellite. The robots must have omni-directional mobility, high power and high load capacity, within a scale in millimeters, in order to accomplish t...