Fig. 5
From: Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots
Automatic actuation of four OFB microrobots from their initial positions to the caging formation. a Microrobots are approaching to the caging formation. b Each microrobot is actuated simultaneously at different speeds. c Microrobots positioned around the micro-object. d Since the microrobots were actuated at different speeds, they all arrive at their caging positions at the same time, despite the differences in the length of the actuation paths. The average size of Microrobots 1, 2, 3, and 4 is 159, 132, 161, and 159 μm in diameter. Scale bar: 150 μm. Time format: minutes: seconds