Research Papers

Design, Analysis, and Control of a Novel Safe Cell Micromanipulation System With IPMC Actuators

[+] Author and Article Information
A. J. McDaid

e-mail: amcd039@aucklanduni.ac.nz

K. C. Aw

Department of Mechanical Engineering,
The University of Auckland,
Private Bag 92019,
Auckland, 1010, New Zealand

1Corresponding author.

Contributed by the Design Innovation and Devices of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received February 8, 2012; final manuscript received March 27, 2013; published online May 9, 2013. Assoc. Editor: Diann Brei.

J. Mech. Des 135(6), 061003 (May 09, 2013) (10 pages) Paper No: MD-12-1103; doi: 10.1115/1.4024226 History: Received February 08, 2012; Revised March 27, 2013

This paper presents the design, analysis, and control of a novel micromanipulation system to facilitate the safe handling/probing of biological cells. The robotic manipulator has a modular design, where each module provides two degrees-of-freedom (2DOF) and the overall system can be made up of a number of modules depending on the desired level of dexterity. The module design has been optimized in simulation using an integrated ionic polymer-metal composite (IPMC) model and mechanical mechanism model to ensure the best system performance from the available IPMC material. The optimal system consists of two modules with each DOF actuated by a 27.5 mm long by 10 mm wide actuator. A 1DOF control structure has been developed, which is adaptively tuned using a model-free iterative feedback tuning (IFT) algorithm to adjust the controller parameters to optimize the system tracking performance. Experimental results are presented which show the tuning of the system improves the performance by 24% and 64% for the horizontal and vertical motion, respectively. Experimental characterization has also been undertaken to show the system can accurately achieve outputs of up to 7 deg and results for position tracking in both axes are also presented.

Copyright © 2013 by ASME
Your Session has timed out. Please sign back in to continue.


Inoue, K., Tanikawa, T., and Arai, T., 2008, “Micro-Manipulation System With a Two-Fingered Micro-Hand and Its Potential Application in Bioscience,” J. Biotechnol., 133, pp. 219–224. [CrossRef] [PubMed]
Yih, T., and Talpasanu, I. E., 2008, Micro and Nano Manipulations for Biomedical Applications, Artech House, Inc., Boston.
Asiyanbola, B., and Soboyejo, W., 2008, “For the Surgeon: An Introduction to Nanotechnology,” J. Surg. Educ., 65, pp. 155–161. [CrossRef] [PubMed]
McDaid, A. J., Aw, K. C., Xie, S. Q., and Haemmerle, E., 2010, “Gain Scheduled Control of IPMC Actuators With “Model-Free” Iterative Feedback Tuning,” Sens. Actuators, A, 164, pp. 137–147. [CrossRef]
Shahinpoor, M., and Kim, K. J., 2001, “Ionic Polymer-Metal Composites: I. Fundamentals,” Smart Mater. Struct., 10, pp. 819–833. [CrossRef]
Manley, S., McDaid, A., Aw, K., Haemmerle, E., and Xie, S., 2009, “Experimental Performance and Feasibility of a Miniature Single-Degree-Of-Freedom Rotary Joint With Integrated IPMC Actuator,” Presented at the Electroactive Polymers and Devices, San Diego, Proceedings of SPIE - The International Society for Optical Engineering, 7287, no. 72870I.
Zhe, L., Chen, P. C. Y., Nam, J., Ge, R., and Lin, W., 2007, “A Micromanipulation System With Dynamic Force-Feedback for Automatic Batch Microinjection,” J. Micromech. Microeng., 17, no. 314. [CrossRef]
Takeuchi, M., Nakajima, M., Kojima, M., and Fukuda, T., 2010, “Soft Handling Probe Using Thermal Gel for Single Cells,” Micro-NanoMechatronics and Human Science (MHS), 2010 International Symposium on, pp. 311–316.
Asaka, K., and Oguro, K., 2009, “Active Microcatheter and Biomedical Soft Devices Based on IPMC Actuators,” Biomedical Applications of Electroactive Polymer Actuators, F.Capri and E.Smela, eds., Wiley, Chichester, United Kingdom.
Shahinpoor, M., 2009, “Implantable Heart-Assist and Compression Devices Employing an ActiveNetwork of Ellectrically-Controllable Ionic Polymer-Metal Nanocomposites,” Biomedical Applications of Electroactive Polymer Actuators, F.Capri and E.Smela, eds., Wiley, Chichester, United Kingdom.
Aw, K. C., Yu, W., McDaid, A. J., and Xie, S. Q., 2011, “An IPMC Driven Micropump With Adaptive On-Line Iterative Feedback Tuning,” Presented at the IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2011), Budapest, Hungary.
Konyo, M., and Tadokoro, S., 2009, “IPMC Based Tactile Displays for Pressure and Texture Presentation on a Human Finger,” Biomedical Applications of Electroactive Polymer Actuators, F.Capri and E.Smela, eds., Wiley, Chichester, United Kingdom.
Nam, J. H., Chen, P. C. Y., Lu, Z., Luo, H., Ge, R., and Lin, W., 2010, “Force Control for Mechanoinduction of Impedance Variation in Cellular Organisms,” J. Micromech. Microeng., 20(2), no. 025003. [CrossRef]
Deok-Ho, K., Seok, Y., and Byungkyu, K., 2004, “Mechanical Force Response of Single Living Cells Using a Microrobotic System,” Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on, Vol. 5, pp. 5013–5018.
McDaid, A. J., Aw, K. C., Xie, S. Q., and Haemmerle, E., 2011, “Development of a 2DOF Micromanipulation System with IPMC Actuators,” Presented at the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Budapest, Hungary.
Branco, P. J. C., and Dente, J. A., 2006, “Derivation of a Continuum Model and Its Electric Equivalent-Circuit Representation for Ionic Polymer-Metal Composite (IPMC) Electromechanics,” Smart Mater. Struct., 15, pp. 378–392. [CrossRef]
Pugal, D., Kim, K. J., and Aabloo, A., 2011, “An Explicit Physics-Based Model of Ionic Polymer-Metal Composite Actuators,” J. Appl. Phys., 110, p. 084904. [CrossRef]
Chen, Z., and Tan, X., 2008, “A Control-Oriented and Physics-Based Model for Ionic Polymer-Metal Composite Actuators,” IEEE/ASME Trans. Mechatron., 13, pp. 519–529. [CrossRef]
Punning, A., Johanson, U., Anton, M., Aabloo, A., and Kruusmaa, M., 2009, “A Distributed Model of Ionomeric Polymer Metal Composite,” J. Intell. Mater. Syst. Struct., 20, pp. 1711–1724. [CrossRef]
McDaid, A. J., Aw, K. C., Xie, S. Q., and Haemmerle, E., 2010, “A Conclusive Scalable Model for the Complete Actuation Response for IPMC Transducers,” Smart Mater. Struct., 19, p. 075011. [CrossRef]
Bonomo, C., Fortuna, L., Giannone, P., Graziani, S., and Strazzeri, S., 2007, “A Nonlinear Model for Ionic Polymer Metal Composites as Actuators,” Smart Mater. Struct., 16, pp. 1–12. [CrossRef]
Liu, D., McDaid, A. J., Aw, K. C., and Xie, S. Q., 2011, “Position Control of an Ionic Polymer Metal Composite Actuated Rotary Joint Using Iterative Feedback Tuning,” Mechatronics, 21, pp. 315–328. [CrossRef]
Yun, K., and Kim, W. J., 2006, “Microscale Position Control of an Electroactive Polymer Using an Anti-Windup Scheme,” Smart Mater. Struct., 15, pp. 924–930. [CrossRef]
Hjalmarsson, H., 2002, “Iterative Feedback Tuning—An Overview,” Int. J. Adapt. Control Signal Process., 16, pp. 373–395. [CrossRef]
Hjalmarsson, H., Gunnarsson, S., and Gevers, M., 1994, “A Convergent Iterative Restricted Complexity Control Design Scheme,” Decision and Control, 1994, Proceedings of the 33rd IEEE Conference on, pp. 1735–1740.
Hjalmarsson, H., Gevers, M., Gunnarsson, S., and Lequin, O., 1998, “Iterative Feedback Tuning-Theory and Applications,” IEEE Control Syst. Mag., 18, pp. 26–41. [CrossRef]
Graham, A. E., Young, A. J., and Xie, S. Q., 2007, “Rapid Tuning of Controllers by IFT for Profile Cutting Machines,” Mechatronics, 17, pp. 121–128. [CrossRef]
McDaid, A. J., Aw, K. C., Haemmerle, E., and Xie, S. Q., 2012, “Control of IPMC Actuators for Micro-Fluidics With Adaptive “Online” Iterative Feedback Tuning,” IIEEE/ASME Trans. Mechatron, no. 5756691, 17(4), pp. 789–797. [CrossRef]


Grahic Jump Location
Fig. 1

Mechanical actuation response of an IPMC transducer with a voltage applied [6]

Grahic Jump Location
Fig. 2

Conventional cell micromanipulation system

Grahic Jump Location
Fig. 3

(a) Individual 2DOF micromanipulation module. Conceptual design of multi micromanipulation system with (b) 2 modules and (c) 3 modules. Any number of devices can be positioned together and cooperate in order to achieve many manipulation tasks.

Grahic Jump Location
Fig. 4

(a) Top and (b) side view of a micromanipulation module with sensors and microscope

Grahic Jump Location
Fig. 5

Schematic diagram of electromechanical IPMC model used for simulation [20]

Grahic Jump Location
Fig. 6

Model simulation of a 27.5 mm long by 10 mm wide IPMC with clamped length of 5 mm, under a 1, 2, and 3 V input after 30 s

Grahic Jump Location
Fig. 7

Possible configurations for cutting sheet of IPMC material

Grahic Jump Location
Fig. 8

Open-loop simulation results for (a) horizontal, (b) vertical, and (c) end effector path

Grahic Jump Location
Fig. 9

1DOF control system

Grahic Jump Location
Fig. 10

Manipulation system module with IPMCs and microprobe

Grahic Jump Location
Fig. 11

Vertical tracking response for a set point reference with the initial and tuned controller after ten iterations of IFT

Grahic Jump Location
Fig. 12

The cost function for the (a) horizontal and (b) vertical joints for ten iterations of IFT tuning

Grahic Jump Location
Fig. 14

2DOF tracking for a (a) square and (b) a circle

Grahic Jump Location
Fig. 13

Range and accuracy experiments for the IFT tuned system for (a) horizontal and (b) vertical motion




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In