Fig. 6
From: Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots
Closed-loop position updating of the microrobots at the caging formation. a Image captured by the feedback block showing the position error between the desired location of the microrobot (indicated by the red circle marked with white arrows) and the physical location of the microrobots (marked with the dotted white circle). b Microrobots are actuated to the new destination, minimizing the position error. c Microrobots actuated to the updated caging formation, resulting in reduced position error. The average size of Microrobots 1, 2, 3, and 4 is 149, 108, 150, and 144 μm in diameter. Scale bar: 150 μm