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2007


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Space exploration-towards bio-inspired climbing robots

Menon, C., Murphy, M., Sitti, M., Lan, N.

INTECH Open Access Publisher, 2007 (misc)

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[BibTex]

2007


[BibTex]


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Bacterial flagella-based propulsion and on/off motion control of microscale objects

Behkam, B., Sitti, M.

Applied Physics Letters, 90(2):023902, AIP, 2007 (article)

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[BibTex]

[BibTex]


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Friction of partially embedded vertically aligned carbon nanofibers inside elastomers

Aksak, B., Sitti, M., Cassell, A., Li, J., Meyyappan, M., Callen, P.

Applied Physics Letters, 91(6):061906, AIP, 2007 (article)

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[BibTex]

[BibTex]


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Enhanced friction of elastomer microfiber adhesives with spatulate tips

Kim, S., Aksak, B., Sitti, M.

Applied Physics Letters, 91(22):221913, AIP, 2007 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Microscale and nanoscale robotics systems [grand challenges of robotics]

Sitti, M.

IEEE Robotics \& Automation Magazine, 14(1):53-60, IEEE, 2007 (article)

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[BibTex]

[BibTex]


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A new biomimetic adhesive for therapeutic capsule endoscope applications in the gastrointestinal tract

Glass, P., Sitti, M., Appasamy, R.

Gastrointestinal Endoscopy, 65(5):AB91, Mosby, 2007 (article)

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[BibTex]

[BibTex]


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Visual servoing-based autonomous 2-D manipulation of microparticles using a nanoprobe

Onal, C. D., Sitti, M.

IEEE Transactions on control systems technology, 15(5):842-852, IEEE, 2007 (article)

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[BibTex]

[BibTex]


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Adhesion of biologically inspired vertical and angled polymer microfiber arrays

Aksak, B., Murphy, M. P., Sitti, M.

Langmuir, 23(6):3322-3332, ACS Publications, 2007 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Waalbot: An agile small-scale wall-climbing robot utilizing dry elastomer adhesives

Murphy, M. P., Sitti, M.

IEEE/ASME transactions on Mechatronics, 12(3):330-338, IEEE, 2007 (article)

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[BibTex]

[BibTex]


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Subfeature patterning of organic and inorganic materials using robotic assembly

Tafazzoli, A., Cheng, C., Pawashe, C., Sabo, E. K., Trofin, L., Sitti, M., LeDuc, P. R.

Journal of materials research, 22(06):1601-1608, Cambridge University Press, 2007 (article)

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[BibTex]

[BibTex]


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Effect of backing layer thickness on adhesion of single-level elastomer fiber arrays

Kim, S., Sitti, M., Hui, C., Long, R., Jagota, A.

Applied Physics Letters, 91(16):161905, AIP, 2007 (article)

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[BibTex]

[BibTex]


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Adhesion and anisotropic friction enhancements of angled heterogeneous micro-fiber arrays with spherical and spatula tips

Murphy, M. P., Aksak, B., Sitti, M.

Journal of Adhesion Science and Technology, 21(12-13):1281-1296, Taylor & Francis Group, 2007 (article)

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Project Page [BibTex]

Project Page [BibTex]


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Surface-tension-driven biologically inspired water strider robots: Theory and experiments

Song, Y. S., Sitti, M.

IEEE Transactions on robotics, 23(3):578-589, IEEE, 2007 (article)

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[BibTex]

[BibTex]

2004


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E. Coli Inspired Propulsion for Swimming Microrobots

Behkam, Bahareh, Sitti, Metin

pages: 1037–1041, 2004 (article)

Abstract
Medical applications are among the most fascinating areas of microrobotics. For long, scientists have dreamed of miniature smart devices that can travel inside the human body and carry out a host of complex operations such as minimally invasive surgery (MIS), highly localized drug delivery, and screening for diseases that are in their very early stages. Still a distant dream, significant progress in micro and nanotechnology brings us closer to materializing it. For such a miniature device to be injected into the body, it has to be 800 μm or smaller in diameter. Miniature, safe and energy efficient propulsion systems hold the key to maturing this technology but they pose significant challenges. Scaling the macroscale natation mechanisms to micro/nano length scales is unfeasible. It has been estimated that a vibrating-fin driven swimming robot shorter than 6 mm can not overcome the viscous drag forces in water. In this paper, the authors propose a new type of propulsion inspired by the motility mechanism of bacteria with peritrichous flagellation, such as Escherichia coli, Salmonella typhimurium and Serratia marcescens. The perfomance of the propulsive mechanism is estimated by modeling the dynamics of the motion. The motion of the moving organelle is simulated and key parameters such as velocity, distribution of force and power requirments for different configurations of the tail are determined theoretically. In order to validate the theoretical result, a scaled up model of the swimming robot is fabricated and characterized in silicone oil using the Buckingham PI theorem for scaling. The results are compared with the theoretically computed values. These robots are intended to swim in stagnation/low velocity biofluid and reach currently inaccessible areas of the human body for disease inspection and possibly treatment. Potential target regions to use these robots include eyeball cavity, cerebrospinal fluid and the urinary system.

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link (url) DOI [BibTex]

2004


link (url) DOI [BibTex]


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Atomic force microscope probe based controlled pushing for nanotribological characterization

Sitti, M.

IEEE/ASME Transactions on mechatronics, 9(2):343-349, IEEE, 2004 (article)

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[BibTex]

[BibTex]

1999


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< 研究速報>(< 小特集> マイクロマシン)

Sitti, M., 橋本秀紀,

生産研究, 51(8):651-653, 東京大学, 1999 (article)

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[BibTex]

1999


[BibTex]


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Micro/Nano Manipulation Using Atomic Force Microscope.

Sitti, M., Hashimoto, H.

生産研究, 51(8):651-653, 東京大学生産技術研究所, 1999 (article)

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[BibTex]

[BibTex]


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Virtual Reality-Based Teleoperation in the Micro/Nano World.

Sitti, M., Hashimoto, H.

生産研究, 51(8):654-656, 東京大学生産技術研究所, 1999 (article)

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[BibTex]

[BibTex]


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Teleoperated nano scale object manipulation

Sitti, M., Hashimoto, H.

Recent Advances on Mechatronics, pages: 322-335, Singapore: Springer-Verlag, 1999 (article)

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[BibTex]

[BibTex]