Airborne Acoustic Vortex End Effector-based Contactless, Multi-mode, Programmable Control of Object Surfing

Tweezers based on optical, electric, magnetic, and acoustic fields have shown great potential for contactless object manipulation. However, current tweezers designed for manipulating millimeter-sized objects such as droplets, particles, and small animals, exhibit limitations in translation resolution, range, and path complexity. Here, we introduce a novel acoustic vortex tweezers system, which leverages a unique airborne acoustic vortex end effector integrated with a three degree-of-freedom (DoF) linear motion stage, for enabling contactless, multi-mode, programmable manipulation of millimeter-sized objects. The acoustic vortex end effector utilizes a cascaded circular acoustic array, which is portable and battery-powered, to generate an acoustic vortex with a ring-shaped energy pattern. The vortex applies acoustic radiation forces to trap and spin an object at its center, simultaneously protecting this object by repelling other materials away with its high-energy ring. Moreover, our vortex tweezers system facilitates contactless, multi-mode, programmable object surfing, as demonstrated in experiments involving trapping, repelling, and spinning particles, translating particles along complex paths, guiding particles around barriers, translating and rotating droplets containing zebrafish larvae, and merging droplets. With these capabilities, we anticipate that our tweezers system will become a valuable tool for the automated, contactless handling of droplets, particles, and bio-samples in biomedical and biochemical research.