Teleoperated Micromanipulation System Manufactured by Cut-and-Fold Techniquess

Sehyuk Yim, Shuhei Miyashita, Daniela Rus, Sangbae Kim

Research output: Contribution to journalArticlepeer-review


We present a new teleoperated micromanipulation system where all units of the system, wearable user interface devices and a slave micromanipulator, are manufactured by engraving, cutting and folding two-dimensional materials. The designed manipulation system employs a simple hydraulic mechanism consisting of pairs of syringes that have different diameters, which allows for motion reduction and physical interaction between the master and the slave. As a result, users can precisely manipulate micro objects without tremor, which was previously difficult with bare hands. This paper presents design considerations and features, fabrication methods, performance metrics of this creative manipulation system and a range of high level micromanipulation abilities such as pick-and-place, microseparation, and 3D micro-assembly. Highlighting rapid design and fabrication of a low-cost precision micromanipulation system, this paper proposes new applications of folded machines to wearable robots and micro robotics.
Original languageEnglish
Pages (from-to)456 - 467
JournalIEEE Transactions on Robotics
Issue number2
Early online date25 Jan 2017
Publication statusPublished - Apr 2017

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