Search

This paper studies the sustainability of plastrons on superhydrophobic (SHPo) surfaces made of longitudinal micro-trenches covered by nano-grass with the main interest on hydrodynamic friction drag reduction in high-speed flows of open water, which represent the operating conditions of common watercraft. After revising the shear-driven drainage model to address the air diffusion for SHPo surfaces, the existing theories are combined to reveal the trends of how the immersion depth, air saturation level and shear stress affect the maximum attainable plastron length. Deviations from the theories by the dynamic effect at the two ends of the trench, the interfacial contaminations and turbulent fluctuation are also discussed. A combinatorial series of well-defined SHPo trench surfaces (4 cm × 7 cm in size with varying trench widths, depths, lengths and roughnesses) is microfabricated and attached underneath a 4m long motorboat on seawater in turbulent flows up to 7.2 m s-1 (shear rate ∼83 000 s-1 and friction Reynolds number ∼5500). Because the plastron can provide a substantial slip only while its air-water interfaces are pinned (or only slightly depinned) at the trench top, two underwater cameras are employed to differentiate the pinned (and slightly depinned) interfaces from the depinned (and no) interfaces. In addition to achieving pinned plastrons on 6 cm long trenches aligned to high-speed flows in open water, the experimental results corroborate the theoretical estimations, supporting the design of SHPo surfaces for field applications.

Abstract

For a superhydrophobic (SHPo) surface under water, the dewetted or wetted states are easily distinguishable by the bright silvery plastron or lack of it, respectively. However, to detect an intermediate state between the two, where water partially intrudes the surface roughness, a special visualization technique has been needed. Focusing on SHPo surfaces of parallel microtrenches and considering drag reduction as a prominent application, we (i) show the reliance on surface brightness alone may seriously mislead the wetting state, (ii) theorize how the brightness is determined by water intrusion depth and viewing direction, (iii) support the theory experimentally with confocal microscopy and CCD cameras, (iv) present how to estimate the intrusion depth using optical images taken from different angles, and (v) showcase how to detect intermediate states slightly off the properly dewetted state by simply looking. The proposed method would allow monitoring SHPo trench surfaces without bulky instruments - especially useful for large samples and field tests.

The emergence of electrowetting-on-dielectric (EWOD) in the early 2000s made the once-obscure electrowetting phenomenon practical and led to numerous activities over the last two decades. As an eloquent microscale liquid handling technology that gave birth to digital microfluidics, EWOD has served as the basis for many commercial products over two major application areas: optical, such as liquid lenses and reflective displays, and biomedical, such as DNA library preparation and molecular diagnostics. A number of research or start-up companies (e.g., Phillips Research, Varioptic, Liquavista, and Advanced Liquid Logic) led the early commercialization efforts and eventually attracted major companies from various industry sectors (e.g., Corning, Amazon, and Illumina). Although not all of the pioneering products became an instant success, the persistent growth of liquid lenses and the recent FDA approvals of biomedical analyzers proved that EWOD is a powerful tool that deserves a wider recognition and more aggressive exploration. This review presents the history around major EWOD products that hit the market to show their winding paths to commercialization and summarizes the current state of product development to peek into the future. In providing the readers with a big picture of commercializing EWOD and digital microfluidics technology, our goal is to inspire further research exploration and new entrepreneurial adventures.

An all-electronic, droplet-based batch microfluidic device, operated using the electrowetting on dielectric (EWOD) mechanism was developed for on-demand synthesis of N-succinimidyl-4-[18F]fluorobenzoate ([18F]SFB), the most commonly used 18F-prosthetic group for biomolecule labeling. In order to facilitate the development of peptides, and proteins as new diagnostic and therapeutic agents, we have diversified the compact EWOD microfluidic platform to perform the three-step radiosynthesis of [18F]SFB starting from the no carrier added [18F]fluoride ion. In this report, we established an optimal microliter droplet reaction condition to obtain reliable yields and synthesized [18F]SFB with sufficient radioactivity for subsequent conjugation to the anti-PSCA cys-diabody (A2cDb) and for small animal imaging. The three-step, one-pot radiosynthesis of [18F]SFB radiochemistry was adapted to a batch microfluidic platform with a reaction droplet sandwiched between two parallel plates of an EWOD chip, and optimized. Specifically, the ratio of precursor to base, droplet volume, reagent concentration, reaction time, and evaporation time were found be to be critical parameters. [18F]SFB was successfully synthesized on the EWOD chip in 39 ± 7% (n = 4) radiochemical yield in a total synthesis time of ∼120 min ([18F]fluoride activation, [18F]fluorination, hydrolysis, and coupling reaction, HPLC purification, drying and reformulation). The reformulation and stabilization step for [18F]SFB was important to obtain a high protein labeling efficiency of 33.1 ± 12.5% (n = 3). A small-animal immunoPET pilot study demonstrated that the [18F]SFB-PSCA diabody conjugate showed specific uptake in the PSCA-positive human prostate cancer xenograft. The successful development of a compact footprint of the EWOD radiosynthesizer has the potential to empower biologists to produce PET probes of interest themselves in a standard laboratory.

Akin to the impact that digital microelectronics had on electronic devices for information technology, digital microfluidics (DMF) was anticipated to transform fluidic devices for lab-on-a-chip (LoC) applications. However, despite a wealth of research and publications, electrowetting-on-dielectric (EWOD) DMF has not achieved the anticipated wide adoption, and commercialization has been painfully slow. By identifying the technological and resource hurdles in developing DMF chip and control systems as the culprit, we envision democratizing DMF by building a standardized design and manufacturing platform. To achieve this vision, we introduce a proof-of-concept cloud platform that empowers any user to design, obtain, and operate DMF chips (https://edroplets.org). For chip design, we establish a web-based EWOD chip design platform with layout rules and automated wire routing. For chip manufacturing, we build a web-based EWOD chip manufacturing platform and fabricate four types of EWOD chips (i.e., glass, paper, PCB, and TFT) to demonstrate the foundry service workflow. For chip control, we introduce a compact EWOD control system along with web-based operating software. Although industrial fabrication services are beyond the scope of this work, we hope this perspective will inspire academic and commercial stakeholders to join the initiative toward a DMF ecosystem for the masses. [ABSTRACT FROM AUTHOR]

Despite the fact that superhydrophobic surfaces possess useful and unique properties, their practical application has remained limited by durability issues. Among those, the wetting transition, whereby a surface gets impregnated by the liquid and permanently loses its superhydrophobicity, certainly constitutes the most limiting aspect under many realistic conditions. In this study, we revisit this so-called Cassie-to-Wenzel transition (CWT) under the broadly encountered situation of liquid drop impact. Using model hydrophobic micropillar surfaces of various geometrical characteristics and high speed imaging, we identify that CWT can occur through different mechanisms, and at different impact stages. At early impact stages, right after contact, CWT occurs through the well established dynamic pressure scenario of which we provide here a fully quantitative description. Comparing the critical wetting pressure of surfaces and the theoretical pressure distribution inside the liquid drop, we provide not only the CWT threshold but also the hardly reported wetted area which directly affects the surface spoiling. At a later stage, we report for the first time to our knowledge, a new CWT which occurs during the drop recoil toward bouncing. With the help of numerical simulations, we discuss the mechanism underlying this new transition and provide a simple model based on impulse conservation which successfully captures the transition threshold. By shedding light on the complex interaction between impacting water drops and surface structures, the present study will facilitate designing superhydrophobic surfaces with a desirable wetting state during drop impact.

Superhydrophobic and superoleophobic surfaces have so far been made by roughening a hydrophobic material. However, no surfaces were able to repel extremely-low-energy liquids such as fluorinated solvents, which completely wet even the most hydrophobic material. We show how roughness alone, if made of a specific doubly reentrant structure that enables very low liquid-solid contact fraction, can render the surface of any material superrepellent. Starting from a completely wettable material (silica), we micro- and nanostructure its surface to make it superomniphobic and bounce off all available liquids, including perfluorohexane. The same superomniphobicity is further confirmed with identical surfaces of a metal and a polymer. Free of any hydrophobic coating, the superomniphobic silica surface also withstands temperatures over 1000°C and resists biofouling.

Superhydrophobic and superoleophobic surfaces have so far been made by roughening a hydrophobic material. However, no surfaces were able to repel extremely-low-energy liquids such as fluorinated solvents, which completely wet even the most hydrophobic material. We show how roughness alone, if made of a specific doubly reentrant structure that enables very low liquid-solid contact fraction, can render the surface of any material superrepellent. Starting from a completely wettable material (silica), we micro- and nanostructure its surface to make it superomniphobic and bounce off all available liquids, including perfluorohexane. The same superomniphobicity is further confirmed with identical surfaces of a metal and a polymer. Free of any hydrophobic coating, the superomniphobic silica surface also withstands temperatures over 1000°C and resists biofouling.

Despite the confirmation of slip flows and successful drag reduction (DR) in small-scaled laminar flows, the full impact of superhydrophobic (SHPo) DR remained questionable because of the sporadic and inconsistent experimental results in turbulent flows. Here we report a systematic set of bias-free reduction data obtained by measuring the skin-friction drags on a SHPo surface and a smooth surface at the same time and location in a turbulent boundary layer (TBL) flow. Each monolithic sample consists of a SHPo surface and a smooth surface suspended by flexure springs, all carved out from a 2.7 × 2.7 mm2 silicon chip by photolithographic microfabrication. The flow tests allow continuous monitoring of the plastron on the SHPo surfaces, so that the DR data are genuine and consistent. A family of SHPo samples with precise profiles reveals the effects of grating parameters on turbulent DR, which was measured to be as much as ∼75.

Radiotracer synthesis is an ideal application for microfluidics because only nanogram quantities are needed for positron emission tomography (PET) imaging. Thousands of radiotracers have been developed in research settings but only a few are readily available, severely limiting the biological problems that can be studied in vivo via PET. We report the development of an electrowetting-on-dielectric (EWOD) digital microfluidic chip that can synthesize a variety of (18)F-labeled tracers targeting a range of biological processes by confirming complete syntheses of four radiotracers: a sugar, a DNA nucleoside, a protein labelling compound, and a neurotransmitter. The chip employs concentric multifunctional electrodes that are used for heating, temperature sensing, and EWOD actuation. All of the key synthesis steps for each of the four (18)F-labeled tracers are demonstrated and characterized with the chip: concentration of fluoride ion, solvent exchange, and chemical reactions. The obtained fluorination efficiencies of 90-95% are comparable to, or greater than, those achieved by conventional approaches.

We report finger-actuated digital microfluidics (F-DMF) based on the manipulation of discrete droplets via the electrowetting on dielectric (EWOD) phenomenon. Instead of requiring an external power supply, our F-DMF uses piezoelectric elements to convert mechanical energy produced by human fingers to electric voltage pulses for droplet actuation. Voltage outputs of over 40 V are provided by single piezoelectric elements, which is necessary for oil-free EWOD devices with thin (typically

UnlabelledAccess to diverse PET tracers for preclinical and clinical research remains a major obstacle to research in cancer and other disease research. The prohibitive cost and limited availability of tracers could be alleviated by microfluidic radiosynthesis technologies combined with a high-yield microscale radiosynthetic method. In this report, we demonstrate the multistep synthesis of 3'-deoxy-3'-(18)F-fluorothymidine ((18)F-FLT) with high yield on an electrowetting-on-dielectric (EWOD) microfluidic radiosynthesizer, previously developed in our group. We have identified and established several parameters that are most critical in the microscale radiosynthesis, such as the reaction time, reagent concentration, and molar ratios, to successfully synthesize (18)F-FLT in this compact platform.Methods(18)F-FLT was synthesized from the 3-N-Boc-1-[5-O-(4,4'-dimethoxytrityl)-3-O-nosyl-2-deoxy-β-D-lyxofuranosyl] thymine precursor on the EWOD chip starting from the first solvent exchange and (18)F-fluoride ion activation step to the final deprotection step. The fluorination reaction was performed in a mixture of thexyl alcohol and dimethyl sulfoxide. The crude product after deprotection was collected from the chip and purified on a custom-made solid-phase extraction cartridge and subjected to quality control testing. The purified (18)F-FLT was suitable for small-animal PET studies in multiple nude mice xenografted with the A431 carcinoma cell line.Results(18)F-FLT was successfully synthesized on the EWOD microdevice coupled with an off-chip solid-phase extraction purification with a decayed-corrected radiochemical yield of 63% ± 5% (n = 5) and passed all of the quality control tests required by the U.S. Pharmacopeia for radiotracers to be injected into humans. We have successfully demonstrated the synthesis of several batches of (18)F-FLT on EWOD, starting with approximately 333 MBq of radioactivity and obtained up to 52 MBq (non-decay-corrected) of (18)F-FLT on cartridge purification. The specific activity of 2 representative preparations of (18)F-FLT synthesized on the EWOD chip were measured to be 1,800 and 2,400 GBq/μmol.ConclusionThe EWOD microchip and optimized synthesis method in combination represent an effective platform for synthesizing (18)F-FLT with high yield and of good quality for imaging. This compact platform, with configurable synthesis steps, could potentially form the basis of a stand-alone system that decouples PET probe production from the cyclotron and specialized radiochemistry facilities and increases diversity and flexibility in probe production.

Microfluidic technologies provide an attractive platform for the synthesis of radiolabeled compounds. Visualization of radioisotopes on chip is critical for synthesis optimization and technological development. With Cerenkov imaging, beta particle emitting isotopes can be localized with a sensitive CCD camera. In order for Cerenkov imaging to also serve as a quantitative tool, it is necessary to understand how material properties relevant to Cerenkov emission, namely, index of refraction and beta particle stopping power, affect Cerenkov light output. In this report, we investigate the fundamental physical characteristics of Cerenkov photon yield at different stages of [(18)F]FDG synthesis on the electrowetting on dielectric (EWOD) microfluidic platform. We also demonstrate how Cerenkov imaging has enabled synthesis optimization. Geant4, a Monte Carlo program applied extensively in high energy physics, is used to simulate Cerenkov photon yield from (18)F beta particles traversing materials of interest during [(18)F]FDG synthesis on chip. Our simulations show that the majority (approximately two-thirds) of the (18)F beta particle energy available to produce Cerenkov photons is deposited on the glass plates of the EWOD chip. This result suggests the possibility of using a single calibration factor to convert Cerenkov signal to radioactivity, independent of droplet composition. We validate our simulations with a controlled measurement examining varying ratios of [(18)O]H2O, dimethyl sulfoxide (DMSO), and acetonitrile (MeCN), and find a consistent calibration independent of solvent composition. However, the calibration factor may underestimate the radioactivity in actual synthesis due to discoloration of the droplet during certain steps of probe synthesis. In addition to the attractive quantitative potential of Cerenkov imaging, this imaging strategy provides indispensable qualitative data to guide synthesis optimization. We are able to use this imaging technique to optimize the mixing protocol as well as identify and correct for loss of radioactivity due to the migration of radioactive vapor outside of the EWOD heater, enabling an overall increase in the crude radiochemical yield from 50 ± 3% (n = 3) to 72 ± 13% (n = 5).

Organic chemistry applications on digital microfluidic devices often involve reagents that are volatile or sensitive and must be introduced to the chip immediately before use. We present a new technique for automated, on-demand loading of ~1 μL droplets from large (~1 mL), sealed, off-chip reservoirs to a digital microfluidic chip in order to address this challenge. Unlike aqueous liquids which generally are non-wetting to the hydrophobic surface and must be actively drawn into the electrowetting-on-dielectric (EWOD) chip by electrode activation, organic liquids tend to be wetting and can spontaneously flood the chip, and hence require a retracting force for controlled liquid delivery. Using a combination of compressed inert gas and gravity to exert driving and retracting forces on the liquid, the simple loading technique enables precise loading of droplets of both wetting and non-wetting liquids in a reliable manner. A key feature from a practical point of view is that all of the wetted parts are inexpensive and potentially disposable, thus avoiding cross-contamination in chemical and biochemical applications. We provide a theoretical treatment of the underlying physics, discuss the effect of geometry and liquid properties on its performance, and show repeatable reagent loading using the technique. Its versatility is demonstrated with the loading of several aqueous and non-aqueous liquids on an EWOD digital microfluidic device.

Evaluating the anodized tantalum pentoxide (Ta2O5) that has been recently reported as a dielectric for low-voltage electrowetting-on-dielectric (EWOD) devices, we find a severe deterioration in performance if the working liquid is actuated with positive dc voltage. In an effort to reduce the limitation of this otherwise attractive dielectric material for EWOD, proposed herein is a Ta2O5 layer prepared by anodizing a sputtered Ta2O5 film. This sputtered-anodized Ta2O5 allows the use of positive dc signals, while maintaining the low-voltage actuation for which the anodized Ta 2O5 was originally introduced. All the EWOD tests were performed with a conductive liquid droplet in an air environment. © 1992-2012 IEEE.

We have fabricated very-high-aspect-ratio (VHAR) silicon and metal microstructures in complex geometric patterns. The recently developed surfactant-added tetramethylammonium hydroxide etching allows the formation of V-grooves in any pattern, i.e., not limited by the crystal direction, on a silicon surface. As the resulting sharp pits allow very deep photoelectrochemical etching, VHAR silicon microstructures (4-μm-wide and over-300-μm-deep trenches) are successfully fabricated in complex patterns (spiral and zigzag demonstrated), overcoming the prevailing limitations of simple pores and straight trenches. Furthermore, by filling the VHAR silicon mold with nickel and removing the silicon, high-aspect-ratio metal microstructures of complex patterns are also obtained. These VHAR microstructures in complex patterns, which are structurally much stronger than the simple posts and straight plates, overcome the stiction problem even when densely populated. © 2012 IEEE.

This paper reviews publications that have fortified our understanding of the electrowetting-on-dielectric (EWOD) actuation mechanism. Over the last decade, growing interest in EWOD has led to a wide range of scientific and technological investigations motivated by its applicability in microfluidics, especially for droplet-based optical and lab-on-a-chip systems. At this point in time, we believe that it is helpful to summarize the observations, insights, and modeling techniques that have led to the current picture showing how forces act on liquid droplets and how droplets respond in EWOD microfluidic devices. We discuss the basic physics of EWOD and explain the mechanical response of a droplet using free-body diagrams. It is our hope that this review will inspire new research approaches and help design useful devices. © 2012 Copyright Taylor and Francis Group, LLC.

Digital microfluidic chips provide a new platform for manipulating chemicals for multi-step chemical synthesis or assays at the microscale. The organic solvents and reagents needed for these applications are often volatile, sensitive to contamination, and wetting, i.e. have contact angles of

We introduce a simple and compact fuel-cell architecture consisting of only solid channels and demonstrate its validity by developing a miniature direct formic acid fuel cell (DFAFC). The proposed architecture generates electric power while pumping the fuel and removing byproduct CO 2 without any discrete pump, gas separator, or membrane electrode assembly (MEA). The fuel pump and gas separator are embedded in the channel, as reported before, by directionally growing and venting CO 2 byproduct bubbles formed inside the reaction microchannels using virtual check valve and microporous hydrophobic venting membrane. The new architecture further eliminates the MEA, along with the issues associated with it, by flowing one stream of fuel and electrolyte mixture in a single channel consisting of both an anode and an air-breathing cathode. The reported system obtains a supply of oxygen directly from quiescent air through a gas-diffusion cathode rather than using an oxygen tank. By eliminating all the ancillary parts, the so-called packaging penalty, which has been hindering the miniaturization of fuel cells below the order of a centimeter, is avoided. This simple and self-standing fuel-cell unit produces 16.7 mW/cm 2, a performance comparable to the existing bulkier DFAFCs that use external pumps, pressurized oxygen or MEA. © 2012 IEEE.

We demonstrate a new approach to impedance measurement on digital microfluidics chips for the purpose of simple, sensitive, and accurate volume and liquid composition measurement. Adding only a single series resistor to existing AC droplet actuation circuits, the platform is simple to implement and has negligible effect on actuation voltage. To accurately measure the complex voltage across the resistor (and hence current through the device and droplet), the designed system is based on software-implemented lock-in amplification detection of the voltage drop across the resistor which filters out noise, enabling high-resolution and low-limit signal recovery. We observe picoliter sensitivity with linear correlation of voltage to volume extending to the microliter volumes that can be handled by digital microfluidic devices. Due to the minimal hardware, the system is robust and measurements are highly repeatable. The detection technique provides both phase and magnitude information of the real-time current flowing through the droplet for a full impedance measurement. The sensitivity and resolution of this platform enables it to distinguish between various liquids which, as demonstrated in this paper, could potentially be extended to quantify solute concentrations, liquid mixtures, and presence of analytes.

We study experimentally how two key geometric parameters (pitch and gas fraction) of textured hydrophobic surfaces affect liquid slip. The two are independently controlled on precisely fabricated microstructures of posts and grates, and the slip length of water on each sample is measured using a rheometer system. The slip length increases linearly with the pitch but dramatically with the gas fraction above 90%, the latter trend being more pronounced on posts than on grates. Once the surfaces are designed for very large slips (>20 microm), however, further increase is not obtained in regular practice because the meniscus loses its stability. By developing near-perfect samples that delay the transition from a dewetted (Cassie) to a wetted (Wenzel) state until near the theoretical limit, we achieve giant slip lengths, as large as 185 microm.

Localized heating of droplets on an electrowetting-on-dielectric (EWOD) chip has been implemented and shown to accelerate trypsin digestion reaction rates, sample drying, and matrix crystallization for matrix-assisted laser desorption ionization mass spectrometry (MALDI-MS). Achieving this involved extending the functionality of previous EWOD droplet-based techniques by developing a multifunctional electrode with closed-loop temperature control, while minimizing overall system complexity and addressing challenges associated with rapid evaporation. For the EWOD chip design, we discuss the performance of multifunctional surface electrodes for actuation, localized Joule heating, and thermistic temperature sensing. Furthermore, a hydrophilic pattern is formed in the multifunctional electrode to control the location of an evaporating droplet on the electrode. To demonstrate the capabilities and limitations of this technique, we performed three experiments and measured the results using MALDI-MS: (i) insulin disulfide reductions in dithiothreitol (DTT) over a range of heater temperatures (22-70[degrees]C) to show how reaction rates can be affected by thermal control, (ii) insulin disulfide reductions at 130[degrees]C in dimethyl sulfoxide (DMSO) to demonstrate a reaction in a high boiling point solvent, and (iii) tryptic digestions of cytochrome c at 22 and 40 [degrees]C to show that heated droplets can yield reasonably higher peptide sequence coverage than unheated droplets. Although they do not decouple the effects of changing temperatures and concentrations, these experiments verified that thermal cycling by EWOD electrodes accelerates reaction rates in liquid droplets in air. 10.1021/ac101833b

This paper describes a technique to increase the efficiency of magnetic concentration on an electrowetting-on-dielectric (EWOD)-based droplet (digital) microfluidic platform operated in air, i.e., on dry surface. Key differences in the force scenario for droplet microfluidics vis-a-vis the conventional continuous microfluidic systems are identified to explain the rationale behind the proposed idea. In particular, the weakness of the magnetic force relative to the bead-substrate adhesion and the liquid-air interfacial tension is highlighted, and a new technique to achieve high-efficiency magnetic collection with the assistance of the interfacial force is proposed. An improvement in collection efficiency (e.g., from ~73% to ~99%) is observed with the new technique of 'meniscus-assisted magnetic bead collection'. In addition, isolation of the magnetic species from a mixed sample of magnetic and nonmagnetic beads is demonstrated. Comparison with other related reports is also presented. [2008-0232] Index Terms--Collection, droplet microfluidics, electrowetting-on-dielectric (EWOD), magnetic beads, meniscus, separation.

Microelectromechanical systems (MEMS) have constituted an active R&D area over the last two to three decades, with one of the earliest application topics being microswitches. Typical designs involve actuation of microscale flexural elements (e.g., beams and membranes) to make a short or an opening in the transmission (signal) line. However, the problem of reliability of these switches persisted due to the presence of a solid-solid contact. Inspired by the regular mercury switches that use liquid-solid contact to solve the problems, several researchers have been exploring the use of liquid metal (LM) in developing microscale switches. Over time, the following two different approaches have evolved: LM-wetted microswitches and LM-actuated microswitches. In this paper, we summarize the progress of both approaches over the last decade by reporting a series of LM microswitches, each with the mechanism, fabrication, and performance. In addition, the properties of various LMs and LM alloys and the issues of fabrication and packaging involving LM are presented to help understand the reported developments as well as to assist in designing future LM microswitches. Index Terms--Liquid metal (LM), mercury switch, microelectromechanical systems (MEMS) switch, microswitch, reliability of microswitch.

A pneumatically operated four-fingered micromanipulator (a 'microhand') with a fiber-based internal visual system is developed using microelectromechanical systems fabrication techniques. This 'seeing' microhand transfers images generated by the optical system equipped at the palm of the microhand to an operator via an optical fiber bundle to provide the shape and distal information of objects of interest. The use of illuminating fibers along with the optical bundle enables the microhand's operation even in light-deficient environments. Such visual information informs the accurate relative location of the device and the status of manipulation to the operator in real time, who will take subsequent actions accordingly with an increased accuracy and efficiency. Embedding the fiber-based optical system inside the manipulator, instead of using an external camera setup for overall system monitoring, greatly reduces the size of the manipulator and helps increase maneuverability, particularly when operating in a space-limited work area. Tests have been conducted to verify the performance of the visually aided microhand to manipulate millimeter-sized objects in real time. Building on the ability of the UCLA microhand to gently handle irregular-shaped objects, this vision-enabled microhand is expected to provide more accurate manipulations and widen the window of applications. Index Terms--Microactuator, microelectromechanical systems (MEMS), microhand, microrobot, pneumatic actuation.