@inproceedings{b6e26fe04f5e451286b40c0ffe51a068,
title = "Ground Reaction Force Sensing in Milligram-Scale Legged Microrobots",
abstract = "This work uses compliant mechanism design to create a two-axis vision-based force sensor to measure 2-DOF ground reaction forces (GRFs) of legged 1 mg microrobots. The sensor was designed with a genetic algorithm to tailor the stiffness matrix. The design is printed using direct laser lithography and integrated into the {"}ground{"} of an experimental platform for magnetically actuated microrobots. The sensor deformation is observed visually as the robot steps on it, resolving sub-μN GRFs of microrobots for the first time.",
keywords = "compliant mechanism, ground reaction force, vision-based force sensor",
author = "\{St Pierre\}, Ryan and Babak Eslami and Sarah Bergbreiter",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 20th International Conference on Solid-State Sensors, Actuators and Microsystems and Eurosensors XXXIII, TRANSDUCERS 2019 and EUROSENSORS XXXIII ; Conference date: 23-06-2019 Through 27-06-2019",
year = "2019",
month = jun,
doi = "10.1109/TRANSDUCERS.2019.8808537",
language = "English",
series = "2019 20th International Conference on Solid-State Sensors, Actuators and Microsystems and Eurosensors XXXIII, TRANSDUCERS 2019 and EUROSENSORS XXXIII",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1989--1992",
booktitle = "2019 20th International Conference on Solid-State Sensors, Actuators and Microsystems and Eurosensors XXXIII, TRANSDUCERS 2019 and EUROSENSORS XXXIII",
address = "United States",
}