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—Existing remotely-actuated microrobots powered by magnetic coils far from the workspace exhibit a maximum of only five-degrees-of-freedom (DOF) actuation, as creation of a driving torque about the magnetization axis is not achievable. This lack of orientation control limits the effectiveness of existing microrobots for precision tasks of object(More)
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This review comprises a detailed survey of ongoing methodologies for soft actuators, highlighting approaches suitable for nanometer- to centimeter-scale robotic applications. Soft robots present a special design challenge in that their actuation and sensing mechanisms are often highly integrated with the robot body and overall functionality. When less than(More)
This paper proposes a novel design methodology to synthesize flexure-based parallel manipulators (FPM) for high precision micro/nano-scale manipulation. Unlike traditional synthesis methods, the proposed method uses a structural optimization algorithm that is independent of human intuition, to synthesize compliant joints with optimal stiffness(More)
M. Sitti and co-workers find that gallium exhibits highly reversible and switchable adhesive characteristics during the liquid-solid phase change. As described on page 5088, this reversible adhesive allows miniature capsule-like robots, which are able to easily pick-and-place objects with irregular geometries and rough surfaces, and thus assemble such(More)
This paper presents a novel synthesis method for the design of micro-scale robotic flexure mechanisms. A structural optimization method, termed the mechanism-based approach, is used to identify the optimal topology and shape of the flexure mechanisms based on their lump stiffness characteristics. Using several different fitness functions, several optimal(More)
Shape-programmable matter is a class of active materials whose geometry can be controlled to potentially achieve mechanical functionalities beyond those of traditional machines. Among these materials, magnetically actuated matter is particularly promising for achieving complex time-varying shapes at small scale (overall dimensions smaller than 1 cm).(More)
Gallium exhibits highly reversible and switchable adhesion when it undergoes a solid-liquid phase transition. The robustness of gallium is notable as it exhibits strong performance on a wide range of smooth and rough surfaces, under both dry and wet conditions. Gallium may therefore find numerous applications in transfer printing, robotics, electronic(More)
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