On-chip Robotics for Biomedical Innovations
31/70 Evaluation of Ultrasonic Vibration

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Here is the experimental evaluations. The red line shows the drive magnet trajectory, which is 1mm diameter circle, and the blue line shows the MMT trajectory measured by CCD camera. The drive magnet was moved in 0.5 mm/sec constant velocity. The measurement was conducted for 100 points and the average error in the case of without vibration was 94.4 mm and the standard deviation was 40 mm while the average was 0.1mm and the standard deviation was 9.4 mm with vibration. The friction reduction rate has correlation of sliding object velocity and the amplitude of the vibration, we also measured in different velocity and different voltage applied to ceramics.