Journal Paper


  1. H. Bettahar, A. Gaspar, C. Clévy, N. Courjal and P. Lutz: „Photo-Robotic Positioning for Integrated Optics“, IEEE Robotics and Automation Letters (RAL), 2(1), pp. 217-222, January 2017.


  1. B. Komati, C. Clévy and P. Lutz: „High Bandwidth Microgripper with Integrated Force Sensors and Position Estimation for the Grasp of Multi-stiffness Microcomponents“, IEEE/ASME Transaction on Mechatronics (T-Mech), 21(4), pp. 2039-49, August, 2016.
  2. B. Brazey, R. Dahmouche, J.-A. Seon, M. Gauthier: „Experimental validation of in-hand planar orientation and translation in microscale“, Intelligent Service Robotics, Volume 9, Issue 2, 2016, pp. 101-112.“
  3. J. Zhang and E. Diller: „Tetherless mobile micrograsping using a magnetic elastic composite material“, Smart Materials and Structures (published online), DOI 10.1088/0964-1726/25/11/11LT03.
  4. J. Giltinan, E. Diller, and M. Sitti: „Programmable Assembly of Heterogeneous Microparts by an Untethered Mobile Capillary Microgripper“, Lab on a Chip, vol. 16, pp. 4445-4457, 2016.
  5. E. Diller, J. Giltinan, G. Lum, Z. Ye, and M. Sitti: „Six-Degree-of-Freedom Magnetic Actuation for Wireless Microrobotics“, International Journal of Robotics Research, vol. 35, no. 1, pp. 114-128, 2016.


  1. M. Boudaoud, Y. Le Gorrec, Y. Haddab, P. Lutz: „Gain Scheduling Control of a Nonlinear Electrostatic Microgripper: Design by an Eigenstructure Assignment With an Observer-Based Structure“, IEEE Transactions on Control Systems Technology, Volume 23, Issue 4, July, 2015, pp. 1255-1267.
  2. N. Tan, C. Clévy, G. Laurent, P. Sandoz and N. Chaillet: „Accuracy Quantification and Improvement of Serial Micropositioning Robots for In-Plane Motions“, IEEE Transaction on Robotics (T-Ro), 31(6), pp. 1497-1507, December 2015.
  3. M. Boudaoud, M. Gaudenzi De Faria, Y. Haddab, S. Haliyo, Y. Le Gorrec, P. Lutz, S. Régnier: „Robust Microscale Grasping Through a Multimodel Design : Synthesis and Real Time Implementation“, Control Engineering Practice, Volume 39, Juny, 2015, pp. 12-22.
  4. N. Tan, C. Clévy and N. Chaillet: „Calibration of Nanopositioning Stages“, Micromachines, 6(12), pp. 1856-1875, December 2015.
  5. M. Gaudenzi De Faria, Y. Haddab, Y. Le Gorrec, P. Lutz: „Influence of mechanical noise inside a scanning electron microscope.“, Review of Scientific Instruments, Volume 86, Issue (4), April, 2015, pp. 45-105.
  6. A. V. Kudryavtsev, G. J. Laurent, C. Clévy, B. Tamadazte and P. Lutz: „Analysis of CAD Model-based Visual Tracking for Microassembly using a New Block Set for MATLAB/Simulink“, International Journal of Optomechatronics (IJO), 9(4), pp. 295-309, July 2015.
  7. M. Dkhil, M. Kharboutly, A. Bolopion, S. Régnier, M. Gauthier: „Closed loop control of a magnetic particle at the air/liquid interface“, IEEE Transactions on Automation Science and Engineering; Juny 2015, pp. 1-13.“
  8. A. Bienaimé, V. Chalvet, C. Clévy, L. Gauthier-Manuel, T. Baron and M. Rakotondrabe: „Static / dynamic trade-off performance of PZT thickfilm micro-actuators“, Journal of Micro- mechanics and Microengineering (JMM), 25, 075017, June, 2015.


  1. M. Boudaoud, M. Gaudenzi De Faria, Y. Le Gorrec, Y. Haddab, P. Lutz: „An output feedback LPV control strategy of a nonlinear electrostatic microgripper through a singular implicit modeling“, Control Engineering Practice, Volume 28, July, 2014, pp. 97-111.
  2. V. Guelpa, G. J. Laurent, P. Sandoz, J. Galeano Zea and C. Clévy: „Subpixelic Measurement of Large 1D Displacements: Principle, Processing Algorithms, Performances and Software“, Sensors, 14(3), 5056-5073, March, 2014.
  3. S. Khadraoui, M. Rakotondrabe, P. Lutz: „Interval force/position modeling and control of a microgripper composed of two collaborative piezoelectric actuators and its automation“, International Journal of Control, Automation and Systems, Volume 12, Issue (2), April 2014, pp. 358-371.
  4. B. Komati, J. Agnus, C. Clévy and P. Lutz: „Prototyping of a high performant and integrated piezoresistive force sensor for microscale applications“, Journal of Micromechanics and Microengineering (JMM), 24, 035018, February, 2014.
  5. C. Clévy, I. Lungu, K. Rabenorosoa and P. Lutz: „Positioning Accuracy Characterization of Assembled Microscale Components for Micro-Optical Benches“, Assembly Automation (AA), 34(1), pp. 68-77, January, 2014.
  6. S. Khadraoui, M. Rakotondrabe, P. Lutz: „Optimal design of piezoelectric cantilevered actuators with guaranteed performances by using interval techniques“, IEEE/ASME Transactions on Mechatronics, Volume 19, Issue (5), October, 2014, pp. 1660-1668.
  7. S. Zimmermann, T. Tiemerding, Sergej Fatikow, T. Li and W. Wang: „Automated mechanical characterization of 2D materials using SEM based visual servoing“, International Journal of Optomechatronics, Vol. 7, Issue 4, pp. 283-295, DOI 10.1109/3M-NANO.2013.6737400.


  1. B. Komati, K. Rabenorosoa, C. Clévy and P. Lutz: „Automated Guiding Task of a Flexible Micropart Using a Two-Sensing-Fingers Microgripper“, IEEE Transactions on Automation Science and Engineering (T-ASE), A10(3), pp. 515-524, 2013.
  2. V. Chalvet, Y. Haddab, P. Lutz: „A Microfabricated Planar Digital Microrobot for Precise Positioning Based on Bistable Modules“, IEEE Transactions on Robotics, Volume 3, Issue (29), Juny, 2013, pp. 641 – 649.
  3. R. Casier, L. Renaud, S. Cyrille, M. Lhernould, M. Gauthier, P. Lambert: „Position Measurement/Tracking Comparison of the Instrumentation in a Droplet-Actuated-Robotic Platform“, Sensors, Volume 13, Issue (5), Juny, 2013, pp. 5857-5869.
  4. J. Agnus, N. Chaillet, C. Clévy, S. Dembélé, M. Gauthier, Y. Haddab, G. Laurent, P. Lutz, N. Piat, K. Rabenorosoa, M. Rakotondrabe and B. Tamadazte: „Robotic Micro-assembly and micromanipulation at FEMTO-ST“, Journal of Molecular Biology Research (JMBR), 8(2), pp. 91-106, 2013.
  5. K. Rabenorosoa, C. Clévy, Q. Chen and P. Lutz: „Study of Forces during Micro-Assembly Tasks using Two-Sensing-Fingers Gripper“, IEEE/ASME Transactions on Mechatronics (T-Mech), 17(5), pp. 811-821, 2013.
  6. Claas Diederichs and Sergej Fatikow: „FPGA-Based Object Detection and Motion Tracking in Micro- and Nanorobotics“, International Journal of Intelligent Mechatronics and Robotics, Vol. 3, pp. 27-37
  7. G. Banerjee and S. K. Gupta. Research in Automated Planning and Control for Micromanipulation. IEEE Transactions on Automation Science and Engineering, Vol. 10, Issue 3, pp. 485-495, 2013, DOI 10.1109/TASE.2013.2260539.
  8. C. Stolle, M. Bartenwerfer, C. Celle, J.-P. Simonato and S. Fatikow: “Nanorobotic Strategies for Handling and Characterization of Metal-Assisted Etched Silicon Nanowires”, IEEE/ASME Transaction on Mechatronics, Vol. 18, Issue 3, pp. 887-894, 2012, DOI 10.1109/TMECH.2012.2193591.
  9. Y. Zheng, E. Shojaei-Baghini, C. Wang, and Y. Sun, „Microfluidic characterization of specific membrane capacitance and cytoplasm conductivity of single cells“, Biosensors and Bioelectronics, Vol. 42, pp. 496-502, 2013, DOI 10.1016/j.bios.2012.10.081.
  10. M. Hamdi, A. Subramanian, L. Dong, A. Ferreira, B. Nelson, “Simulation of Rotary Motions based on Head-to-Head Carbon Nanotube Shuttles’’, IEEE/ASME-Transactions on Mechatronics, Vol. 18, Issue 1, pp. 130-137, 2013, DOI 10.1109/TMECH.2011.2165078.
  11. M. Boukhnifer, A. Ferreira, “Fault Tolerant Control of a Teleoperated Piezoelectric Microgripper’’, Asian Journal of Control, Vol. 15, No. 4, pp. 1–13, July 2013, DOI 10.1002/asjc.593.
  12. K. Belharet, D. Folio, A. Ferreira, “Simulation and Planning of a Magnetically Actuated MicroRobot Navigating in the Arteries”, IEEE-Transactions on Biomedical Engineering, Vol. 60, Issue 4, March 2013, DOI 10.1109/TBME.2012.2236092.
  13. Long-Ho Chau, Wenfeng Liang, Florence Wing Ki Cheung, Wing Keung Liu, Wen Jung Li, Shih-Chi Chen and Gwo-Bin Lee, “Self-Rotation of Cells in an Irrotational AC E-Field in an Opto-electrokinetics Chip”, PLoS ONE, Vol. 8, Issue 1, e51577, 8 pages, 2012, DOI 10.1371/journal.pone.0051577.


  1. R.Z. Xu, S.L. Zhou, W.J. Li, “MEMS Accelerometer Based Nonspecific-User Hand Gesture Recognition”, IEEE Sensors Journal, Vol. 12, No. 5, pp. 1166-1173, 2012, DOI 10.1109/JSEN.2011.2166953. (Top 25 downloaded papers in April, May, June, July and September of 2012 of the IEEE Sensor Journal since its inception in 2001).
  2. J. Kim,  H. Ladjal, D. Folio, A. Ferreira, J. Kim, “Evaluation of Telerobotic Shared Control Strategy for Efficient Single-Cell Manipulation’’,  IEEE Transactions on Automation Science and Engineering, Vol. 9, Issue 2, pp. 402-406, 2012, DOI 10.1109/TASE.2011.2174357.
  3. H. Ladjal, J.L. Hanus, A. Pillarisetti, C. Keefer, A. Ferreira, J.P. Desai, “Reality-based Real-Time Cell Indentation Simulator“, IEEE/ASME Transactions on Mechatronics, Vol. 17, Issue 2, pp. 239-250, 2012, DOI 10.1109/TMECH.2010.2091010.
  4. L. Arcese, M. Fruchard, A. Ferreira, “Endovascular Magnetically-Guided Robots : Navigation Modeling and Optimization’’,  IEEE Transactions on Biomedical Engineering, Vol. 59, Issue 4, pp.977-987, 2012, DOI 10.1109/TBME.2011.2181508.
  5. P. Saketi, M. von Essen, M. Mikczinski, S. Heinemann, S. Fatikow, P. Kallio: „A flexible microrobotic platform for handling microscale specimens of fibrous materials for microscopic studies.“, Journal of Microscopy, Vol. 248, Issue 2, pp. 163-171, 2012, DOI: 10.1111/j.1365-2818.2012.03660.x.
  6. Y. Tian, R. Wei, V. Eichhorn, S. Fatikow, B. Shirinzadeh, D. Zhang: “Buckling and postbuckling behavior of carbon nanocones”, Nanoscience and Nanotechnology Letters, Vol. 4, No. 8, pp. 766-874, 2012, DOI 10.1166/nnl.2012.1428.
  7. V. Eichhorn, M. Bartenwerfer and S. Fatikow: „Nanorobotic Assembly and Focused Ion Beam Processing of Nanotube-enhanced AFM Probes“, IEEE Transactions on Automation Science and Engineering, Vol. 9, No. 4, pp. 679-686, 2012, DOI 10.1109/TASE.2012.2199753.
  8. M. Bartenwerfer and S. Fatikow: „Nanorobot-Based Handling and Transfer of Individual Silicon Nanowires”, International Journal of Intelligent Mechatronics and Robotics, Vol. 2, Issue 2, pages 34-46, 2012, DOI 10.4018/ijimr.2012040103.
  9. A. Bolopion, C. Dahmen, C. Stolle, S. Haliyo, S. Régnier, S. Fatikow: „Vision-Based Haptic Feedback for Remote Micromanipulation in–SEM Environment“, International Journal of Optomechatronics, Vol. 6, Issue 3, pp.236-252, 2012, DOI 10.1080/15599612.2012.701370
  10. Y. Tian, R. Wei, V. Eichhorn, S. Fatikow, B. Shirinzadeh, D. Zhang: „Mechanical properties of boron nitride nanocones“, Journal of Applied Physics, Vol.111, Issue 10, 104316, 7 pages, 2012, DOI 10.1063/1.4721651.
  11. S. Fatikow, V. Eichhorn and M. Bartenwerfer: „Nanomaterials Enter the Silicon-Based CMOS Era – Nanorobotic Technologies for Nanoelectronic Devices“, IEEE Nanotechnology Magazine, Vol. 6, No. 1, pp. 14-18, 2012, DOI 10.1109/MNANO.2011.2181735.
  12. Chang, B., Shah, A., Routa, I., Lipsanen, H., and Zhou, Q., „Surface-tension driven self-assembly of microchips on hydrophobic receptor sites with water using forced wetting“, Applied Physics Letters, Vol. 101, No. 11, 114105, 5 pages, 2012, DOI 10.1063/1.4751980.
  13. D. Cappelleri, Z. Fu. M. Fatovic, U. Shah, “Caging for 2D and 3D Micromanipulation”, Special Issue: 20 Years of Microrobotics: Progress, Challenges, and Future Directions, Journal of Micro-Nano Mechatronics, Vol. 7, Issue 4, pp. 115-129, 2012, DOI 10.1007/s12213- 012-0050-4.
  14. Guanglie Zhang, Mengxing Ouyang, John D. Mai, Wen J. Li, and Wing Keung Liu, “Automated Rotation-Rate Tracking of Pigmented Cells by a Customized Block Matching Algorithm”, JALA – Journal of Laboratory Automation, published online before print on November 27, 2012, DOI 10.1177/2211068212468582.
  15. W. Liang, S. Wang, Z. Dong, G.B. Lee, W.J. Li, “Optical Spectrum and Electric Field Waveform Dependent Optically-Induced Dielectrophoretic (ODEP) Micro-Manipulation”, Micromachines, Vol. 3,  Issue 2, pp. 492-508, 2012, DOI 10.3390/mi3020492.
  16. M. Ouyang, W.J. Li, P.H.W. Leong, K.W. Wong, “Improving Carbon Nanotubes Sensor Time Response and Responsivity Using Constant-Power Activation“, IEEE Trans. on Nanotechnology, Vol. 11, Issue 3, pp. 624-632, 2012, DOI 10.1109/TNANO.2012.2188641.
  17. A. G. BanerjeeS. Chowdhury, W. Losert, and S. K. Gupta: „Real-Time Path Planning for Coordinated Transport of Multiple Particles using Optical Tweezers“, IEEE Transactions on Automation Science and Engineering, Vol. 9, Issue 4, pp. 669-678, 2012, DOI 10.1109/TASE.2012.2200102.
  18. L. MacQueen, O. Chebotarev, C. Simmons, and Y. Sun: „Miniaturized platform with on-chip strain sensors for compression testing of arrayed materials“, Lab on a Chip, Vol. 12, Issue 20, pp. 4178-4184, 2012, DOI 10.1039/C2LC40670E.
  19. Y. Zheng, E. Shojaei-Baghini, A. Azad, C. Wang, and Y. Sun: „High-throughput biophysical measurement of human red blood cells,“ Lab on a Chip, Vol. 12, Issue 14, pp. 2560-67, 2012, DOI 10.1039/C2LC21210B.
  20. D. Kim, A. Liu, E. Diller, and M. Sitti: “Chemotactic Steering of Bacteria Propelled Microbeads“, Biomedical Microdevices, Vol. 14, Issue 6, pp. 1009-1017, 2012, DOI 10.1007/s10544-012-9701-4.
  21. E. Diller, S. Floyd, C. Pawashe, and M. Sitti: “Control of Multiple Heterogeneous Magnetic Micro-Robots in Two Dimensions“, IEEE Transactions on Robotics, Vol. 28, Issue 1, pp. 172-182, 2012, DOI 10.1109/TRO.2011.2170330.
  22. C. Pawashe, S. Floyd, E. Diller, and M. Sitti: “2-D Autonomous Micro-Particle Manipulation Strategies for Magnetic Micro-Robots in Fluidic Environments“, IEEE Transactions on Robotics, Vol. 28, Issue 2, pp. 467-477, 2012, DOI 10.1109/TRO.2011.2173835.
  23. Z. Ye, E. Diller, and M. Sitti: „Micro-manipulation Using Rotational Fluid Flows Induced by Remote Magnetic Micro-manipulators“, Journal of Applied Physics, Vol. 112, Issue 6, 064912, 7 pages, 2012, DOI 10.1063/1.4754521.


  1. A. Ferreira, S. Aphale:  “A Survey of Modeling and Control Techniques for Micro- and Nano-Electromechanical Systems”,  IEEE-Transactions on Systems, Man and Cybernetics – Part C, Vol. 41, Issue 3, pp.350-364, 2011, DOI 10.1109/TSMCC.2010.2072779.
  2. Ronkanen, P., Kallio, P., Vilkko, M. and Koivo, H.: “Displacement Control of Piezoelectric Actuators Using Current and Voltage” IEEE/ASME Transactions on Mechatronics, Vol. 16, Issue 1, pp. 160-166, 2011, DOI 10.1109/TMECH.2009.2037914.
  3. Chang, B., Sariola, V., Aura, S., Ras, R.H.A., Klonner, M., Lipsanen, H., and Zhou, Q.: “Capillary-driven self-assembly of microchips on oleophilic/oleophobic patterned surface using adhesive droplet in ambient air”, Applied Physics Letters, Vol. 99, Issue 3, 034104, 3 pages, 2011, DOI 10.1063/1.3615053.
  4. D. Cappelleri, P. Cheng, J. Fink, B. Gavrea, V. Kumar: “Automated Assembly for Mesoscale Parts”, IEEE Transactions on Automation Science and Engineering, Vol. 8, Issue 3, pp. 598-613, 2011, DOI 10.1109/TASE.2011.2132128.
  5. A. G. BanerjeeS. Chowdhury, W. Losert, and S. K. Gupta: „Survey on Indirect Optical Manipulation of Cells, Nucleic Acids, and Motor Proteins“, Journal of Biomedical Optics, Special Section on Photonics and Nanotechnology in Biophysics and Biomedical Research, Vol. 16, Issue 5, pp. 051302, 2011, DOI 10.1117/1.3579200.
  6. J. Li, Y.L. Zhang, S. To, L.D. You, and Y. Sun: “Effect of nanowire number, diameter, and doping density on NanoFET biosensor sensitivity,” ACS Nano, Vol. 5, Issue 8, pp. 6661-6668, 2011, DOI 10.1021/nn202182p.
  7. X.Y. Liu, R. Fernandes, M. Gertsenstein, A. Perumalsamy, I. Lai, M. Chi, K.H. Moley, E. Greenblatt, I. Jurisica, R.F. Casper, Y. Sun, and A. Jurisicova: “Automated microinjection of recombinant Bcl-x into mouse zygotes enhances embryo development,” PLoS ONE, Vol. 6, Issue 7, e21687, 10 pages, 2011, DOI 10.1371/journal.pone.0021687.
  8. Z. Lu, X.P. Zhang, C. Leung, N. Esfandiari, R.F. Casper, and Y. Sun: „Robotic ICSI (Intracytoplasmic Sperm Injection)“, IEEE Trans. Biomedical Engineering, Vol. 58, Issue 7, pp. 2102-2108, 2011, DOI 10.1109/TBME.2011.2146781.
  9. C.H. Ru, Y. Zhang, Y. Sun*, Y. Zhong, X.L. Sun, D. Hoyle, and I. Cotton: „Automated four-point probe measurement of nanowires inside a scanning electron microscope,“ IEEE Trans. on Nanotechnology, Vol. 10, Issue 4, pp. 674-681, 2011, DOI 10.1109/TNANO.2010.2065236.
  10. S. Floyd, E. Diller, C. Pawashe, and M. Sitti: “Control Methodologies for a Heterogeneous Group of Untethered Magnetic Micro-Robots“, International Journal of Robotics Research, Vol. 30, No. 13, pp. 1553-1565, 2011, DOI 10.1177/0278364911399525.
  11. E. Diller, C. Pawashe, S. Floyd, and M. Sitti: „Assembly and Disassembly of Magnetic Mobile Micro-robots Towards Deterministic 2-D Reconfigurable Micro-systems“, International Journal of Robotics Research, Vol. 30, No.14, pp. 1667-1680, 2011, DOI 10.1177/0278364911416140.
  12. V. Arabagi, B. Behkam, E. Cheung, and M. Sitti: „Modeling of Stochastic Motion of Bacteria Propelled Spherical Microbeads“, Journal of Applied Physics, Vol. 109, Issue 11, 114702, 10 pages 2011, DOI

Special issues


  1. P. Lutz, K. F. Bohringer, C. Clévy, D. O. Popa and Q. Zhou: „Micro-assembly and manufacturing at small scales“, IEEE Transactions on Automation Science and Engineering (T-ASE), 10(3), 2013.

Books and Book Chapter

  1. Y. Sun, X. Liu (Editors): „Micro- and Nanomanipulation Tools“, Wiley-VCH, ISBN 9783527337842, 2015
  2. H. Xie, C. Onal, S. Regnier, M. Sitti: „Atomic Force Microscopy Based Nanorobotics: Modelling, Simulation, Setup Building and Experiments“, Springer Tracts in Advanced Robotics, Springer, ISBN 978-3642203282, 2011.
  3. S. Fatikow, D.  Jasper, D. Dahmen, F. Krohs, V. Eichhorn, M. Weigel-Jech: „Robot-Based Automation on the Nanoscale” in Encyclopedia of Nanotechnology, Editor: B. Bhushan, Springer, ISBN 978-9048197507, 2012.

Press Releases

  1. Winner, Best Conference Paper Award at the IEEE-NEMS 2014. S. Zimmermann, S.A.Garnica Barragán and S. Fatikow, „Nanorobotic Processing of Graphene for Rapid Device Prototyping“.
  2. Winner, Best Student Paper, 2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale, Xi’an, China. Haibo Yu, Zaili Dong, Wen Jung Li, Sascha Hermann, Stefan E. Schulz, “Controllable Assembly of SWCNTs Using Dielectrophoresis Based on a Microchannel”.
  3. Winner, Best Conference Video Award, 2011 IEEE Int. Conf. on Robotics and Biomimetics (IEEE-ROBIO 2011), Phuket, Thailand. Shue Wang, Wenfeng Liang, Yanli Qu, Zaili Dong, Gwo-Bin Lee and Wen J. Li, “Towards Automated Micro-/Nano-scale Manipulation, Separation, Assembly, and Fabrication by Optically-Induced Dielectrophoresis”.