Fig. 3
From: Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots
An OFB microrobot was actuated using open-loop control from waypoint 1 to 2 (a, b), waypoint 2′ to 3 (c, d), waypoint 4′ to 5 (g, h), and waypoint 5′ to 6 (i, j), at velocities of 70, 43, 44, 46, and 39 μm/s, respectively. The OFB microrobot location was updated by the vision-assisted closed-loop control at waypoints 2 to 6 (c, e, g, i, k). The dotted circles mark the previous location of the microrobot. The average size of the microrobot is approximately 85 μm over the duration of the actuation. The scale bar is 100 μm