On the contribution of adhesion and friction in planning dexterous in-hand micromanipulation

Micromanipulation and micro-assembly techniques play a key role in the development of new integrated smart systems with applications in strategic fields such as transport, telecommunication, health and defense. However, existing micro-handling solutions lack speed, flexibility and autonomy, which represents an obstacle to the development of these technologies. In previous works, we developed and validated new micro-manipulation techniques using dexterous multi-fingered micro-hands as well as a trajectory planner to automate the manipulation process. The present paper focuses on studying the influence of friction coefficient and adhesion forces at the micro-scale on the fingers' trajectories.