便携式微机器人实验平台，支持磁声双驱动实时控制。
MicroRoboScope: A Portable and Integrated Mechatronic Platform for Magnetic and Acoustic Microrobotic Experimentation
- 集成显微镜与控制电路，实现磁/声双模驱动闭环控制。
- 支持实时视频追踪与信号生成，可操控微机器人运动。
- 适合科研、教学及生物医学应用，成本低易部署。
本文提出MicroRoboScope，一种便携、紧凑且多功能的微机器人实验平台，用于磁力和声学微机器人的实时闭环控制。系统将嵌入式计算机、显微镜、电源和控制电路整合为一个低成本、全集成装置。采用Python和Arduino C++开发的定制控制软件，可实现视频实时采集、微机器人追踪以及电磁线圈和声波换能器的控制信号生成。该平台具备多模态驱动能力、高可及性与便携性，不仅适用于专业实验室，也适用于教育与科普场景。通过降低微机器人实验的门槛，该系统为生物医学、组织工程与机器人领域的研究、教学及转化应用开辟新可能。
原文摘要 · Abstract (English)
This paper presents MicroRoboScope, a portable, compact, and versatile microrobotic experimentation platform designed for real-time, closed-loop control of both magnetic and acoustic microrobots. The system integrates an embedded computer, microscope, power supplies, and control circuitry into a single, low-cost and fully integrated apparatus. Custom control software developed in Python and Arduino C++ handles live video acquisition, microrobot tracking, and generation of control signals for electromagnetic coils and acoustic transducers. The platform's multi-modal actuation, accessibility, and portability make it suitable not only for specialized research laboratories but also for educational and outreach settings. By lowering the barrier to entry for microrobotic experimentation, this system enables new opportunities for research, education, and translational applications in biomedicine, tissue engineering, and robotics.
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