Robot-assisted chirality-tunable acoustic vortex tweezers for contactless, multifunctional, 4-DOF object manipulation

Author:

Li Teng1ORCID,Li Jiali1,Bo Luyu1,Bachman Hunter2,Fan Bei3ORCID,Cheng Jiangtao1ORCID,Tian Zhenhua1ORCID

Affiliation:

1. Department of Mechanical Engineering, Virginia Polytechnic Institute and State University, Blacksburg, VA 24060, USA.

2. Department of Mechanical Engineering and Engineering Sciences, University of North Carolina at Charlotte, Charlotte, NC 28223, USA.

3. Department of Mechanical Engineering, Michigan State University, East Lansing, MI 48824, USA.

Abstract

Robotic manipulation of small objects has shown great potential for engineering, biology, and chemistry research. However, existing robotic platforms have difficulty in achieving contactless, high-resolution, 4-degrees-of-freedom (4-DOF) manipulation of small objects, and noninvasive maneuvering of objects in regions shielded by tissue and bone barriers. Here, we present chirality-tunable acoustic vortex tweezers that can tune acoustic vortex chirality, transmit through biological barriers, trap single micro- to millimeter-sized objects, and control object rotation. Assisted by programmable robots, our acoustic systems further enable contactless, high-resolution translation of single objects. Our systems were demonstrated by tuning acoustic vortex chirality, controlling object rotation, and translating objects along arbitrary-shaped paths. Moreover, we used our systems to trap single objects in regions with tissue and skull barriers and translate an object inside a Y-shaped channel of a thick biomimetic phantom. In addition, we showed the function of ultrasound imaging–assisted acoustic manipulation by monitoring acoustic object manipulation via live ultrasound imaging.

Publisher

American Association for the Advancement of Science (AAAS)

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