Grasping flexible objects using artificial muscle microgrippers

Microscale grasping and manipulation has opened new avenues in the field of bio-manipulation and assembly of MEMS components. Ionic polymer metal composite (IPMC) artificial muscles offer a promising approach for manipulating flexible objects like biological cells. IPMC membranes are electroactive, and therefore bend when a voltage is applied across them. Since they are both flexible and compliant, they do not damage fragile objects during manipulation. IPMCs can be cut as small as desired without losing any of their properties, and are therefore ideal for micromanipulation applications. This paper describes how these IPMCs in a microgripper configuration can be used to grasp flexible objects and presents experimental results of the first generation IPMC microgripper

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