{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:31:43Z","timestamp":1760243503308,"version":"build-2065373602"},"reference-count":10,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2013,5,7]],"date-time":"2013-05-07T00:00:00Z","timestamp":1367884800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper reports our work on developing a surface tension actuated micro-robotic platform supported by three bubbles (liquid environment) or droplets (gaseous environment). The actuation principle relies on the force developed by surface tension below a millimeter, which benefits from scaling laws, and is used to actuate this new type of compliant robot. By separately controlling the pressure inside each bubble, three degrees of freedom can be actuated. We investigated three sensing solutions to measure the platform attitude in  real-time (z-position of each droplet, leading to the knowledge of the z position and \u0398x and \u0398y tilts of the platform). The comparison between optical, resistive, and capacitive measurement principles is hereafter reported. The optical technique uses SFH-9201 components. The resistive technique involves measuring the electrical resistance of a path flowing through two droplets and the platform. This innovative technique for sensing table position combines three pairs of resistances, from which the resistance in each drop can be deduced, thus determining the platform position. The third solution is a more usual high frequency (~200 MHz) capacitive measurement. The resistive method has been proven reliable and is simple to implement. This work opens perspectives toward an interesting sensing solution for micro-robotic platforms.<\/jats:p>","DOI":"10.3390\/s130505857","type":"journal-article","created":{"date-parts":[[2013,5,7]],"date-time":"2013-05-07T13:14:42Z","timestamp":1367932482000},"page":"5857-5869","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Position Measurement\/Tracking Comparison of the Instrumentation in a Droplet-Actuated-Robotic Platform"],"prefix":"10.3390","volume":"13","author":[{"given":"Renaud","family":"Casier","sequence":"first","affiliation":[{"name":"BEAMS Department, CP 165\/56, Universit\u00e9 Libre de Bruxelles, 50 Avenue FD Roosevelt,  Brussels B-1050, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Cyrille","family":"Lenders","sequence":"additional","affiliation":[{"name":"BEAMS Department, CP 165\/56, Universit\u00e9 Libre de Bruxelles, 50 Avenue FD Roosevelt,  Brussels B-1050, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marion","family":"Lhernould","sequence":"additional","affiliation":[{"name":"BEAMS Department, CP 165\/56, Universit\u00e9 Libre de Bruxelles, 50 Avenue FD Roosevelt,  Brussels B-1050, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Micha\u00ebl","family":"Gauthier","sequence":"additional","affiliation":[{"name":"FEMTO-ST\/CNRS, 24 rue Alain Savary, Besan\u00e7on F-25000, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7604-0584","authenticated-orcid":false,"given":"Pierre","family":"Lambert","sequence":"additional","affiliation":[{"name":"BEAMS Department, CP 165\/56, Universit\u00e9 Libre de Bruxelles, 50 Avenue FD Roosevelt,  Brussels B-1050, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2013,5,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Gauthier, M., and R\u00e9gnier, S. (2010). Robotic Microassembly, Wiley.","DOI":"10.1002\/9780470634417"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1157","DOI":"10.1109\/TRO.2012.2199009","article-title":"Three-DOF microrobotic platform based on capillary actuation","volume":"28","author":"Lenders","year":"2012","journal-title":"IEEE Trans. Robot."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"59","DOI":"10.1007\/s12213-008-0012-z","article-title":"Flexible micro-assembly system equipped with an automated tool changer","volume":"4","author":"Hubert","year":"2008","journal-title":"J. Micro Nano Mech."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Jalali, M., Maillard, P., and W\u00fcthrich, R. (2009). Toward a better understanding of glass gravity feed micro-hole drilling with electrochemical discharges. J. Micromech. Microeng., 19.","DOI":"10.1088\/0960-1317\/19\/4\/045001"},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"125","DOI":"10.1016\/0957-4158(94)90039-6","article-title":"Real-time optical measurement of position","volume":"4","author":"During","year":"1994","journal-title":"J. Mechatron."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"55","DOI":"10.1016\/j.sna.2011.07.007","article-title":"Detection of microdroplet size and speed using capacitive sensors","volume":"171","author":"Elbuken","year":"2011","journal-title":"Sens. Actuators A Phys."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Dong, W., Gauthier, M., Lenders, C., and Lambert, P. (2012). A gas bubble-based parallel micro manipulator: Conceptual design and kinematics model. J. Micromech. Microeng., 22.","DOI":"10.1088\/0960-1317\/22\/5\/057001"},{"key":"ref_8","unstructured":"Lenders, C., Gauthier, M., and Lambert, P. (2010). Meniscus-Supported Compliant Table. (European Patent EP 09172715)."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Gibson, I., Rosen, D.W., and Stucker, B. (2010). Additive Manufacturing Technologies: Rapid Prototyping to Direct Digital Manufacturing, Springer.","DOI":"10.1007\/978-1-4419-1120-9"},{"key":"ref_10","unstructured":"SFH-9201 Reflective Interrupter. Available online: http:\/\/catalog.osram-os.com\/catalogue\/catalogue.do?favOid=0000000200007c8400190023&act=showBookmark."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/5\/5857\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:46:35Z","timestamp":1760219195000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/5\/5857"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,5,7]]},"references-count":10,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2013,5]]}},"alternative-id":["s130505857"],"URL":"https:\/\/doi.org\/10.3390\/s130505857","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2013,5,7]]}}}