Patent ID: 8317245

Claim:
A gripping device fabricated by a microfabrication process incorporating photolithography masking being operable to grasp objects varying from micro to nanoNewton, and having two-axis force sensing capabilities, comprising: (a) two or more gripper arms including at least one driving arm and at least one sensing arm operable together to grasp any of the objects; (b) one or more microactuators connected to at least one of the two or more gripper arms and operable to deform and deflect the two or more gripper arms and to drive the at least one driving arm; (c) one or more force sensors connected to one or more of the two or more gripper arms including the at least one sensing arm, said one or more force sensors being operable with the at least one sensing arm and the at least one driving arm so that the one or more force sensors enable force sensing along two axes operable to measure gripping forces and forces applied at the end of the two or more gripper arms to a nanoNewton resolution, said axes include: (i) a longitudinal x-directional axis so that the gripping device is operable to generate force feedback relating to the at least one sensing arm and the at least one driving arm grasping any of the objects, said force feedback indicating detection of contact of the two or more gripping arms with any of the objects as contact feedback and tensile strength and adhesion force as gripping feedback, said force feedback being utilized by the gripping device to avoid breakage of the two or more gripper arms; and (ii) a lateral y-directional axis so that the gripping device is operable to generate displacement feedback relating to deformation and deflection of any of the two or more gripper arms; and (d) an insulator wafer handle layer connecting the two or more gripper arms to mechanically connect and electrically insulate the two or more gripper arms for operation in an aqueous environment.