Performance and technical specifications of the force-measuring device
Mechanical characterization device for microrobotics

The micro- and nanoforces sensor can be represented mechanically as a combination of several springs, with varying stiffnesses K_x, K_y and K_z, supporting the tubular glass rod. The force versus displacement characteristic is linear along the y and z measurement directions and remains strongly non-linear along the x direction mainly due to the influence of diamagnetic forces. Figure 6 shows an example of the force versus displacement characteristic in the y direction of the micro- and nanoforces sensor. The stiffness of the micro- and nanoforces sensor can be modified by changing the spacing between the carrier magnets.