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Updated: Jun 26, 2026

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Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation
Published on: August 2, 2016
Mechanical characterization of polymeric microcapsules using a force-feedback MEMS microgripper.
Keekyoung Kim1, Xinyu Liu, Yong Zhang
1Advanced Micro and Nanosystems Laboratory, University of Toronto, 5 King¿s College Road, ON, Canada, M5S 3G8.
Summary
This study introduces a microelectromechanical systems (MEMS) microgripper for precise testing of hydrogel microcapsules. It enables accurate mechanical characterization of soft biomaterials at the micrometer scale.
Area of Science:
- Micro/nanotechnology
- Biomaterials science
- Mechanical engineering
Background:
- Characterizing the mechanical properties of soft, micrometer-sized biomaterials like hydrogel microcapsules is challenging.
- Existing methods often lack the precision required for micro-scale manipulation and testing in aqueous environments.
Purpose of the Study:
- To develop and demonstrate a monolithic, force-feedback microelectromechanical systems (MEMS) microgripper for micro-scale compression testing.
- To accurately measure the mechanical properties of swollen hydrogel microcapsules in an aqueous environment.
Main Methods:
- A single-chip MEMS microgripper was fabricated, incorporating an electrothermal microactuator for grasping.
- Two capacitive force sensors were integrated for contact detection (38.5nN resolution) and gripping force measurement (19.9nN resolution).
- A mechanics model was employed to analyze large deformation data from compression tests.
Main Results:
- The force-feedback microgripper achieved a force resolution of 19.9nN and a material deformation resolution of 20.5nm.
- Young's modulus values were quantified for individual alginate microcapsules (15-25µm) with varying chitosan coatings (1%, 2%, 3%).
- The system demonstrated an easy-to-operate and accurate compression testing technique.
Conclusions:
- The developed MEMS microgripper provides a precise platform for mechanical characterization of soft micrometer-sized biomaterials.
- This technology facilitates the assessment of hydrogel microcapsule mechanics in biologically relevant aqueous conditions.
- The study highlights a novel approach for evaluating the mechanical integrity of microscale biomaterials.

