Robotics + Acoustic Tweezers
Robotics + Acoustic Tweezers
Embedded Files
Robot-assisted Chirality-tunable Acoustic Vortex Tweezers
for Contactless, Multifunctional, 4-DOF Object Manipulation
Robot-assisted Chirality-tunable Acoustic Vortex Tweezers
for Contactless, Multifunctional, 4-DOF Object Manipulation
Robot-assisted chirality-tunable
acoustic vortex tweezers
Contactless manipulation of objects shielded by barriers
Translation of objects along a complex path
Ultrasound imaging-assisted acoustic vortex tweezers
Camera images
Ultrasound images
Control rotation direction
Translation in a horizontal plane
Translation in a vertical plane
3D helical translation
Microparticle translation
Trapping an object with a barrier
Trapping an object
with a skull barrier
Translating an object in a phantom with a biomimetic vessel
Ultrasound imaging-assisted object manipulation
Airborne Acoustic Vortex End Effector-based
Contactless, Multimode, Programmable Control of Object Surfing
Airborne Acoustic Vortex End Effector-based
Contactless, Multimode, Programmable Control of Object Surfing
Acoustic vortex end-effector
Programmable translation of particles along complex paths
Acoustically trapping and rotating single particles (Clockwise or Counterclockwise)
Acoustically translating and rotating a droplet containing a zebrafish larva
Trapping and repelling particles floating on water
Rotating a particle
floating on water
Object surfing to
write the letters 'VT'
Object surfing
following a spiral trajectory
Guiding particles
through a maze
Translating a droplet
containing a zebrafish larva
Rotating a droplet
containing a zebrafish larva
Merging two droplets using acoustic waves
Trapping and Translating
different-sized droplets
In-Petri-dish Acoustic Vortex Tweezers
In-Petri-dish Acoustic Vortex Tweezers
Schematics and a photo of an acoustic vortex tweezers system for contactless, programmable, and multifunctional manipulation of tiny objects in Petri dishes
Particle aggregation by shrinking an acoustic potential well
Trapping and translating a microparticle
Creating a particle cluster
Translating a particle cluster
Concentrating cells
Translating a cluster of cells
Horizontally translating a zebrafish larva
Vertically translating a zebrafish larva
Dorsal-ventral axis rotating a zebrafish larva
Journal Articles
Journal Articles
Teng Li, Yingshan Du, Bowen Cai, Michael R. Brooks, Chongpeng Qiu, Zhide Wang, Jiali Li, Luyu Bo, Y. Albert Pan, Zhenhua Tian, "In-Petri-dish acoustic vortex tweezers", Lab on a chip, 2025. [PDF] (Themed Collection: Emerging Investigator Series)
Teng Li, Jiali Li, Luyu Bo, Michael R. Brooks, Yingshan Du, Bowen Cai, Zhe Pei, Liang Shen, Chuangchuang Sun, Jiaotao Cheng, Y. Albert Pan, Zhenhua Tian, "Airborne Acoustic Vortex End Effector-based Contactless, Multi-mode, Programmable Control of Object Surfing," Advanced Materials Technologies, 2024: 2400564. (Featured as Inside Front Cover) [PDF]
Teng Li, Jiali Li, Luyu Bo, Hunter Bachman, Bei Fan, Jiangtao Cheng, Zhenhua Tian, "Robot-assisted Chirality-tunable Acoustic Vortex Tweezers for Contactless, Multifunctional, 4-DOF Object Manipulation," Science Advances, 2024, 10: eadm7698. [PDF]
J Rich, B Cole, T Li, B Lu, H Fu, B Smith, J Xia, S Yang, R Zhong, JL. Doherty, K Kaneko, H Suzuki, Z Tian, AD. Franklin, and TJ Huang, “Aerosol Jet Printing Surface Acoustic Wave Microfluidic Devices,” Microsystems & Nanoengineering, 10: 2, 2024.
Z. Li, D. Dang, X. Yang, J. Wu, W. Yang, Z. Tian, H. Zhang, W. Liang, “Simultaneous Microfluidic Synthesis of Multi-Sized Silica Nanoparticles for Biomedical Applications,” ACS Applied Nano Materials, 2023, 6: 4121-4131.
J. Zhang, C. Chen, R. Becker, J. Rufo, S. Yang, J. Mai, P. Zhang, Y. Gu, Z. Wang, Z. Ma, J. Xia, N. Hao, Z. Tian, D.T. Wong, Y. Sadovsky, L.P. Lee, T.J. Huang, A solution to the biophysical fractionation of extracellular vesicles: Acoustic Nanoscale Separation via Wave-pillar Excitation Resonance (ANSWER), Science Advances, Vol. 8, ade0640, 2022.
P. Liu, Z. Tian, K. Yang, T. Haquin, N. Hao, H. Huang, J. Chen, Q. Ma, H. Bachman, P. Zhang, X. Xu, J. Hu, T. J. Huang, Acoustofluidic black holes for multifunctional in-droplet particle manipulation, Science Advances, Vol. 8, NO. 13, 2022. [PDF]
S. Yang, Z. Tian, Z. Wang, J. Rufo, P. Li, J. Mai, J. Xia, H. Bachman, P. Huang, M. Wu, C. Chen, L. P. Lee, and T. J. Huang, Harmonic acoustics for dynamic and selective particle manipulation, Nature Materials, accepted, 2022.
P. Kang*, Z. Tian*, S. Yang, W. Yu, H. Zhu, H. Bachman, S. Zhao, P. Zhang, Z. Wang, R. Zhong, T.J. Huang, “Acoustic tweezers based on circular, slanted-finger interdigital transducers for dynamic manipulation of micro-objects,” Lab on a Chip, 2020, 20: 987-994. [PDF]
H. Zhu, P. Zhang, Z. Zhong, J. Xia, J. Rich, J. Mai, X. Su, Z. Tian, H. Bachman, J. Rufo, Y. Gu, P. Kang, K. Chakrabarty, T. P. Witelski, T. J. Huang, "Acoustohydrodynamic tweezers via spatial arrangement of streaming vortices," Science Advances, 2020, 7: eabc7885. [PDF]
P. Zhang, C. Chen, X. Su, J. Mai, Y. Gu, Z. Tian, H. Zhu, Z. Zhong, H. Fu, S. Yang, K. Chakrabarty, and T.J. Huang, “Acoustic Streaming Vortices Enable Contactless, Digital Control of Droplets,” Science Advances, 2020, 6: eaba0606. [PDF]
J. Zhang, J.H. Hartman, C. Chen, S. Yang, Q. Li, Z. Tian, P.-H. Huang, L. Wang, J.N. Meyer, and T.J. Huang, “Fluorescence-based Sorting of Caenorhabditis elegans via Acoustofluidics,” Lab on a Chip, 2020, 20: 1729-1739. [PDF]
H. Bachman, C. Chen, J. Rufo, S. Zhao, S. Yang, Z. Tian, N. Nama, P.-H. Huang, T.J. Huang, “An acoustofluidic device for efficient mixing over a wide range of flow rates,” Lab on a Chip, 2020, 20: 1238-1248. [PDF]
H. Bachman, Y. Gu, J. Rufo, S. Yang, Z. Tian, P.-H. Huang, L. Yu, T.J. Huang, “Low-frequency flexural wave based microparticle manipulation,” Lab on a Chip, 2020, 20: 1281-1289. [PDF]
S. Zhao, M. Wu, S. Yang, Y. Wu, Y. Gu, C. Chen, J. Ye, Z. Xie, Z. Tian, H. Bachman, P.-H. Huang, J. Xia, P. Zhang, H. Zhang, T.J. Huang, “A disposable acoustofluidic chip for nano/micro particle separation using unidirectional acoustic transducers,” Lab on a Chip, 2020, 20: 1298-1308. [PDF]
Z. Tian*, S. Yang*, P.-H. Huang, Z. Wang, P. Zhang, Y. Gu, H. Bachman, C. Chen, M. Wu, Y. Xie, T.J. Huang, “Wavenumber-spiral acoustic tweezers for dynamic and reconfigurable manipulation of particles and cells,” Science Advances, 2019, 5: eaau6062. [PDF]
J. Zhang, S. Yang, C. Chen, J.H. Hartman, P.-H. Huang, Z. Tian, S.P. Zhang, D. Faulkenberry, J.N. Meyer, T.J. Huang, “Surface acoustic waves enable rotational manipulation of Caenorhabditis elegans,” Lap on a Chip, 2019, 19: 984-992. [PDF]
P. Zhang, C. Chen, F. Guo, J. Philippe, Y, Gu, Z. Tian, H. Bachman, L. Ren, S. Yang, Z. Zhong, P.-H. Huang, N. Katsanis, K. Chakrabarty, T.J. Huang, “Contactless, programmable acoustofluidic manipulation of objects on water,” Lap on a Chip, 2019, 19: 3397-3404. [PDF] (Cover Image)
H. Bachman, H. Fu, P.-H. Huang, Z. Tian, J. Embry-Seckler, J. Rufo, Z. Xie, J.H. Hartman, S. Zhao, S. Yang, J.N. Meyer, T.J. Huang, “Open Source Acoustofluidics,” Lap on a Chip, 2019, 19: 2404-2414. [PDF]
S. Zhao, W. He, Z. Ma, P. Liu, P.H. Huang, H. Bachman, S. Yang, Z. Tian, Z. Wang, Y. Gu, Z. Xie, and T.J. Huang, “On-chip stool liquefaction via acoustofluidics,” Lap on a Chip, 2019, 19: 941-947. [PDF] (Cover Image)
S.P. Zhang, J. Lata, C. Chen, J. Mai, F. Guo, Z. Tian, L. Ren, Z. Mao, P.-H. Huang, P. Li, S. Yang, T. J. Huang, “Digital acoustofluidics enables contactless and programmable liquid handling,” Nature Communications, 2018, 9, 2928. [PDF]
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