Robotic grasping in unstructured environments demands closed-loop feedback that goes beyond conventional fixed open-loop force control. Vision sensors suffer from occlusion at the instant of contact, whereas wrist-mounted force/ torque sensors cannot resolve local shear stress distributions or incipient slip at multi-contact interfaces. Tactile sensors bridge this gap by mapping high-dimensional contact physics directly and in real time. This paper surveys grasp intelligence technology within a Perception–State Estimation–Action framework. Specifically, it reviews optical and arraytype tactile sensors; slip detection algorithms, ranging from physics-based local deformation analysis to deep spatiotemporal networks; and active closed-loop force regulation, including diffusion-policy-based reactive control. Applications in precision semiconductor and electronics assembly are then discussed. Finally, outstanding challenges in mechanical durability, ultra-low-latency data processing, intelligent tactile skin, and multi-modal Vision-Language-Action integration are identified as priorities for future research.
Advances in cell culture technology have improved the understanding of the physiological principles of cells. Recently, the development of microfluidic chips has made it possible to observe single cells in a massively parallelized and accurate manner. However, in order to maximize the availability of the microfluidic cell chip, it is essential to use an incubator that can isolate the cell culture chip from the outside while minimizing contamination and maintaining the temperature and humidity required for cell culture for a long time period. Here, we developed a thermo-hygrostat incubator consisting of an Arduino-based feedback control module for controlling a temperature and humidity complex sensor, a humidifier, and a heater. The temperature and humidity of the incubator could be actively changed according to the needs and application by simple editing control variables of Arduino coding. To demonstrate the efficiency of the device, we conducted an experiment comparing the growth of bacterial cells and obtained optimal conditions necessary for culture. In conclusion, it is expected that the newly developed thermo-hygrostat incubator can be used for a variety of purposes that require active control of temperature and humidity, as well as for long-term cultivation of bacterial cells inside a microfluidic chip.
Recently, instrument stages using flexure guide mechanisms and piezo actuators have been widely used for an ultra-precision positioning system in various industries. Research into ultra-precision position control aiming at nanoscale position errors during stage driving is being actively conducted, as well as various studies on the motion profile adjusting the reference input. In this study, we suggested a motion profile with snap and feedforward for use with a high speed nano scanning system, as compared and analyzed with the position tracking error through feedback control, and also compared to the related feed with the forward control noted as minimized at the position error to 14.19 nm. As a result, a tracking error when applying the fourth profile with snaps to the piezoelectric stage, is obtained with an error reduction effect of about 15%, as compared to when the second profile is applied.
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