ICRA 2012 Paper Abstract


Paper TuB07.6

Yasui, Masato (Osaka University), Ikeuchi, Masashi (The University of Tokyo), Ikuta, Koji (The University of Tokyo)

Magnetic Micro Actuator with Neutral Buoyancy and 3D Fabrication of Cell Size Magnetized Structure

Scheduled for presentation during the Regular Session "Micro and Nano Robots I" (TuB07), Tuesday, May 15, 2012, 11:45−12:00, Meeting Room 7 (Remnicha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 13, 2017

Keywords Micro/Nano Robots, Medical Robots and Systems, New Actuators for Robotics


We have developed two technologies for 3D magnetic microstructures, with a wide size range between 5μm to 2mm. The first technology enables us to obtain density controlled 3D magnetic microstructures. The size is approximately 500μm. In this scale, controlling density is vital for magnetic micro actuators, because the effect of gravity is strong. To adjust density, we developed the world’s first “density controllable magnetically photocurable (DMPC) polymer.” The DMPC polymer is a mixture of hollow microcapsules (density, 0.03 g/cm3), magnetic particles, and photocurable polymer. We can obtain desired relative density between 0.5 to 1.7 by adjusting the concentration of microcapsules. In addition, we succeeded in 3D velocity control of a screw-type magnetic micro actuator with neutral buoyancy in water. The delay time was 32msec. In addition, the actuator possessed 6 DOF. The second technology realized a 5μm magnetic micro actuator, which is a combination of a 3D transparent structure and 2D magnetic structure. Various photocurable polymers can be applied as the 2D structure in this process, although we used magnetically photocurable polymer in this report. Furthermore, we have succeeded in driving a ferromagnetic micro actuator, whose diameter is as small as 1μm. These two fabrication processes will become key technologies in both medical and life sciences field, because they can supply a wide variety of 3D micro structures with small effort.



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