Journal of Micro-Bio Robotics

, Volume 13, Issue 1–4, pp 15–26 | Cite as

Analysis of the influence of inertia for non-contact micromanipulation

  • Mohamed Dkhil
  • Aude Bolopion
  • Stéphane Régnier
  • Michaël Gauthier
Research Paper


This article aims at analyzing the effect of the inertia of the objects in remotely actuated systems at the micrometer scale. As the size decreases inertia is commonly neglected and the systems are considered quasi-static. However, this article shows that for high velocities (around 8 mm/s) the dynamic behavior of the manipulated particle must be taken into account. To perform this analysis, a remotely magnetically actuated system dedicated to high speed manipulation is used. 60 μm-size particles placed at the air/liquid interface are actuated in 2D at different velocities. Precise trajectory tracking is obtained for velocities up to 2.8 mm/s (around 50 body lengths per second), for which inertia can be neglected. For faster velocities (more than 140 body lengths per second demonstrated in this paper) phase lag appears in trajectory tracking: inertia needs to be considered for the control. Experimental results are corroborated by numerical analysis of the model of the system. This article paves the way toward the control of future high speed remotely actuated systems at the micrometer scale.


Inertia Non contact micromanipulation 2D trajectory control Magnetic actuation Air/liquid interface 



This work has been supported by the Labex ACTION project (contract “ANR-11-LABX-01-01”), by the ANR Multiflag project (contract “ANR-16-CE33-0019”), by the “Région Franche Comté” and by the French RENATECH network and its FEMTO-ST technological facility.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2017

Authors and Affiliations

  1. 1.Institut FEMTO-STUniversité de Bourgogne Franche-Comté, CNRSBesançonFrance
  2. 2.Institut des Systèmes Intelligents et de RobotiqueUniversité Pierre et Marie Curie, CNRS UMR 7222ParisFrance

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