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1. Design and Evaluation of Human-Machine Interface for NEXUS: A Custom Microassembly System

   https://doi.org/10.1115/MSEC2020-8477  

   Wei, Danming; Hall, Mariah B.; Sherehiy, Andriy; Kumar Das, Sumit; Popa, Dan O. (September 2020, 14th International Conference on Micro- and Nanosystems (MNS))

   Microassembly systems utilizing precision robotics have long been used for realizing 3-dimensional microstructures such as microrobots. Prior to assembly, such components are fabricated using Micro-Electro-Mechanical-System (MEMS) technology. The microassembly system then directs a microgripper through automated or human-controlled pick-and-place operations. In this paper, we describe a novel custom microassembly system, named NEXUS. The NEXUS integrates multi-degree of freedom (DOF) precision positioners, microscope computer vision, and micro-scale process tools such as a microgripper and vacuum tip. A semi-autonomous human-machine interface (HMI) is programmed by NI LabVIEW® to allow the operator to interact with the microassembly system. The NEXUS human-machine interface includes multiple functions, such as positioning, target detection, visual servoing, and inspection. The microassembly system’s HMI was used by operators to assemble various 3-dimensional microrobots such as the Solarpede, a novel light-powered stick-and-slip mobile microcrawler. Experimental results are reported in this paper that evaluate the system’s semi-autonomous capabilities in terms of assembly rate and yield and compare them to purely teleoperated assembly performance. Results show that the semi-automated capabilities of the microassembly system’s HMI offer a more consistent assembly rate of microrobot components. 

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2. Towards Functional Mobile Microrobotic Systems

   https://doi.org/10.3390/robotics8030069  

   Adam, Georges; Chowdhury, Sagar; Guix, Maria; Johnson, Benjamin V.; Bi, Chenghao; Cappelleri, David (September 2019, Robotics)

   This paper presents our work over the last decade in developing functional microrobotic systems, which include wireless actuation of microrobots to traverse complex surfaces, addition of sensing capabilities, and independent actuation of swarms of microrobots. We will discuss our work on the design, fabrication, and testing of a number of different mobile microrobots that are able to achieve these goals. These microrobots include the microscale magnetorestrictive asymmetric bimorph microrobot ( μ MAB), our first attempt at magnetic actuation in the microscale; the microscale tumbling microrobot ( μ TUM), our microrobot capable of traversing complex surfaces in both wet and dry conditions; and the micro-force sensing magnetic microrobot ( μ FSMM), which is capable of real-time micro-force sensing feedback to the user as well as intuitive wireless actuation. Additionally, we will present our latest results on using local magnetic field actuation for independent control of multiple microrobots in the same workspace for microassembly tasks. 

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3. Adhesive Deposition Process Characterization for Microstructure Assembly

   https://doi.org/10.1115/MSEC2021-63929  

   Sherehiy, Andriy; Montenegro, Andres; Wei, Danming; Popa, Dan O. (June 2021, 16th International Manufacturing Science and Engineering Conference)

   Recent advancements in additive manufacturing such as Direct Write Inkjet printing introduced novel tools that allow controlled and precise deposition of fluid in nano-liter volumes, enabling fabrication of multiscale structures with submillimeter dimensions. Applications include fabrication of flexible electronics, sensors, and assembly of Micro-Electro-Mechanical Systems (MEMS). Critical challenges remain in the control of fluid deposition parameters during Inkjet printing to meet specific dimensional footprints at the microscale necessary for the assembly process of microscale structures. In this paper we characterize an adhesive deposition printing process with a piezo-electric dispenser of nano-liter volumes. Applications include the controlled delivery of high viscosity Ultraviolet (UV) and thermal curable adhesives for the assembly of the MEMS structures. We applied the Taguchi Design of Experiment (DOE) method to determine an optimal set of process parameters required to minimize the size of adhesive printed features on a silicon substrate with good reliability and repeatability of the deposition process. Experimental results demonstrate repeatable deposition of UV adhesive features with 150 μm diameter on the silicon substrate. Based on the observed wettability effect of adhesive printed onto different substrates we propose a solution for further reduction of the deposit-substrate contact area for microassembly optimization. 

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4. MACHINE VISION TRACKING AND AUTOMATION OF A MICROROBOT (SAFAM)

   Warn, Colin; Sherehiy, Andriy; Alqatamin, Moath; Ritz, Brooke; Zhang, Ruoshi; Chowdhury, Sri; Wei, Danming; Popa, Dan (January 2021, Manufacturing science and engineering)

   In this paper, we propose a method for tracking a microrobot’s three-dimensional position using microscope machine vision. The microrobot, theSolid Articulated Four Axis Microrobot (sAFAM), is being developed to enable the assembly and manipulation of micro and nanoscale objects. In the future, arrays of sAFAMS working together can be integrated into a wafer-scale nanofactory, Prior to use, microrobots in this microfactory need calibration, which can be achieved using the proposed measurement technique. Our approach enables faster and more accurate mapping of microrobot translations and rotations, and orders of magnitude larger datasets can be created by automation. Cameras feeds on a custom microscopy system is fed into a data processing pipeline that enables tracking of the microrobot in real-time. This particular machine vision method was implemented with a help of OpenCV and Python and can be used to track the movement of other micrometer-sized features. Additionally, a script was created to enable automated repeatability tests for each of the six trajectories traversable by the robot. A more precise microrobot workable area was also determined thanks to the significantly larger datasets enabled by the combined automation and machine vision approaches. Keywords: Micro robotics, machine vision, nano microscale manufacturing. 

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5. A touch-based multimodal and cryptographic bio-human–machine interface

   https://doi.org/10.1073/pnas.2201937119  

   Lin, Shuyu; Zhu, Jialun; Yu, Wenzhuo; Wang, Bo; Sabet, Kiarash A.; Zhao, Yichao; Cheng, Xuanbing; Hojaiji, Hannaneh; Lin, Haisong; Tan, Jiawei; et al (April 2022, Proceedings of the National Academy of Sciences)

   The awareness of individuals’ biological status is critical for creating interactive and adaptive environments that can actively assist the users to achieve optimal outcomes. Accordingly, specialized human–machine interfaces—equipped with bioperception and interpretation capabilities—are required. To this end, we devised a multimodal cryptographic bio-human–machine interface (CB-HMI), which seamlessly translates the user’s touch-based entries into encrypted biochemical, biophysical, and biometric indices. As its central component, the CB-HMI features thin hydrogel-coated chemical sensors and inference algorithms to noninvasively and inconspicuously acquire biochemical indices such as circulating molecules that partition onto the skin (here, ethanol and acetaminophen). Additionally, the CB-HMI hosts physical sensors and associated algorithms to simultaneously acquire the user’s heart rate, blood oxygen level, and fingerprint minutiae pattern. Supported by human subject studies, we demonstrated the CB-HMI’s capability in terms of acquiring physiologically relevant readouts of target bioindices, as well as user-identifying and biometrically encrypting/decrypting these indices in situ (leveraging the fingerprint feature). By upgrading the common surrounding objects with the CB-HMI, we created interactive solutions for driving safety and medication use. Specifically, we demonstrated a vehicle-activation system and a medication-dispensing system, where the integrated CB-HMI uniquely enabled user bioauthentication (on the basis of the user’s biological state and identity) prior to rendering the intended services. Harnessing the levels of bioperception achieved by the CB-HMI and other intelligent HMIs, we can equip our surroundings with a comprehensive and deep awareness of individuals’ psychophysiological state and needs. 

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