Learn More
Abstract Compact sensing methods are desirable for ionic polymer–metal composite (IPMC) actuators in microrobotic and biomedical applications. In this paper a novel sensing scheme for IPMC actuators is proposed by bonding an IPMC and a PVDF (polyvinylidene fluoride) thin film with an insulating layer in between. The insulating layer thickness is properly(More)
Conjugated polymers are promising actuation materials for bio/micromanipulation systems, biomimetic robots, and biomedical devices. For these applications, it is highly desirable to have predictive models available for feasibility study and design optimization. In this paper a scalable model is presented for trilayer conjugated polymer actuators based on J.(More)
A robotic device with haptic, tactile, and ultrasound capabilities, which can acquire and render information of breast pathology was developed. A physician interface that can examine the human breast remotely and accurately, using such a robotic device was also developed. Such a robotic device can be used to do screening or focused breast exams for patients(More)
This paper presents a new and effective multisensor based control strategy for high-accuracy/precision and high-efficiency automatic robot localization and calibration. The strategy combines both coarsely visual servo and fine position-sensitive detector (PSD) servo control methods. In a large field of view, an image-based visual servo control system is(More)
This paper introduces our recently developed high precision robot localization system employing position sensitive detectors (PSD). A lateral effect PSD is an ideal position sensitive device with a resolution of approx. 0.5 mum. Such a device can be used to enhance the precision capabilities of robot localization or robot calibration. The developed PSD(More)
This paper aims at developing a force-guided micromanipulation technology with in-situ PVDF beam force sensing and hybrid force/position control based on an infinite dimensional system model. By using the designed PVDF force sensing cantilever composite structure with high sensitivity, the micro contact force/impact signal and its derivative can be(More)