Stiffness measurement by using two-fingered microhand

In the field of medical science and biology, analysis of cells is significant and one of the analyses is stiffness measurement of various cells. For instance, cancer cells are softer than healthy cells. Therefore, stiffness measurement of cells will help us to realize which one is cancer cell and which one is healthy one. With respect to this idea, we have applied the two-fingered micro hand to measurement analysis task. In this research, micro force sensor is attached to the two-fingered micro hand and reaction force which generated on end-effectors is measured in the process of grasping of micro objects. In the experiment, for egg cells (about 150 μm), the resultant reaction force was about 4000 nN with 90 μm pushing displacement.