Research - MINIMAX Lab

MINIMAX Research

MINIMAX develops intelligent mechatronic systems for precision instrumentation, medical devices, and robotic automation. Our research connects atomic force microscopy, magnetic capsule robots, and dexterous manipulation through a shared focus on sensing, modeling, and controlling physical interaction.

Current research directions

Precision Mechatronics: Active-probe AFM for large-area inspection, fast imaging, and material characterization.
Biomechatronics: Magnetic actuation, miniature sensors, and compact models for capsule navigation and tissue interaction.
Intelligent Mechatronics: Data-efficient learning, tactile sensing, and actuation design for dexterous robot manipulation.

Prior research. Our foundation spans high-throughput and cryogenic microscopy, molecular nanoprinting, ingestible sensing and drug delivery, smart needles, predictive maintenance, vibration suppression, motor control, piezoelectric positioning, flexure design, digital twins, symbolic regression, MEMS transducers, and magnetic robot navigation.

Key Techniques and Applications

Interaction Control Across Length Scales

We connect nanoscale contact in atomic force microscopy, micro- and mesoscale interactions in capsule robots, and human-scale contact in robotic manipulation. Across these systems, reduced-order and surrogate models combine physics with data-driven learning, on-demand sensor fusion resolves task-relevant uncertainty, and optimization allocates effort across multiple actuators within physical and resource limits.

Research Image Gallery

Explore the research areas: Precision Mechatronics · Biomechatronics · Intelligent Mechatronics

Active-Probe Gantry

An active-probe gantry integrates sample scanning, microscope motion, and tilt.

Implemented mechanical platform for quantum twisting microscopy.

Quantum Twisting Microscope

An implemented microscope platform controls sample rotation for quantum twisting.

Four-Probe EUV-Mask Panorama

The EUV-mask panorama and patterned traces show results from four parallel probes.

BLE, IMU and compact stacked boards connect sensing to feedback control.

Embedded Capsule Electronics

Wireless electronics and inertial sensors connect capsule measurements to control.

Top and oblique views of a capsule rolling under an external rotating magnet.

Coated Capsule Rolling

An external rotating magnet drives coated capsules across the test surface.

The nominal torque model allocates two coil-pair currents within hardware limits.

Bounded Current Allocation

A compact torque model allocates coil currents within hardware current limits.

KUKA LBR iiwa 7 robot with a LEAP Hand, cameras, and task board.

KUKA + LEAP Hand

A robot arm and dexterous hand support physical manipulation experiments.

Scene Reconstruction

DEXTERA reconstructs simulation assets and scene geometry from a single image.

Tactile Finger Gripper

Twisted-tendon fingers combine grasping and tactile sensing in a prototype gripper.

Cryogenic s-SNOM

Cryogenic near-field optical microscopy probes the properties of 2D materials.

Wafer-Scale AFM

Parallel active cantilevers extend AFM scanning for semiconductor wafer inspection.

AFM in Liquids

Active probes support rapid AFM imaging in opaque liquids and nanoscale printing.

Ingestible Capsule Robot

A wireless ingestible capsule measures gastrointestinal pressure and impedance.

MEMS Sensors

Miniature resistive sensors measure pressure, temperature, and electrical impedance.

Active Cantilever Probes

Nanofabricated sensors and actuators add sensing and motion to AFM cantilevers.

Wafer Transport Stabilization

Active vibration suppression stabilizes overhead transport of semiconductor wafers.

Predictive Maintenance

Data-driven models use generated fault data to support predictive maintenance.

Learning-Based Motor Control

Data-driven modeling and control improve permanent-magnet synchronous motor response.

CAD model and assembled dual-probe AFM with coordinated height and tilt positioning.

Dual-Probe Tilt Testbed

A dual-probe AFM testbed coordinates vertical positioning and sample tilt.

Complete LabVIEW temperature-measurement front panel beside its complete graphical block diagram, including timing input, measurement loop and temperature chart.

LabVIEW Code & Front Panel

A LabVIEW front panel and graphical code acquire and display temperature data.

AFM SMILER Toolkit

An extended-reality digital twin supports interactive learning of AFM operation.

Intelligent AFM Controller

Actuator control and imaging algorithms work together to improve AFM performance.

High-Speed AFM

High-speed AFM captures dynamic nanoscale reactions at up to 20 frames per second.

Stacked Piezo Flexure Scanner

Ten stacked piezoelectric layers extend scanner motion while retaining bandwidth.

Charge Control Circuit

Charge control reduces piezoelectric hysteresis to improve positioning accuracy.

Music-Wire Scanner

A dual-actuated music-wire scanner combines mechanical design and motion control.

Concept illustration of demonstrations, digital twins, and synthetic data generation.

Data-Efficient Learning

Real and simulated data support efficient learning and adaptation to new tasks.

DEXTERA diagram showing simulator reconstruction, reusable task primitives, and multimodal observations.

Task Construction

Reusable simulation tasks and multimodal observations support policy learning.

Concept illustration of tactile exploration, contact sensing, and force control.

Tactile Interaction Control

Tactile sensing and force feedback guide stable contact in robotic manipulation.

Reference fabrication sequence for piezoelectric MEMS probes.

MEMS Fabrication Process

A reference fabrication process produces piezoelectric MEMS probe structures.

Design of adjacent contact and dynamic probes with electrical access.

Contact–Dynamic Probe Pair

Adjacent contact and dynamic AFM probes provide separate electrical connections.

Self-Sensing Active Probes

Piezoresistive sensing and thermal actuation are integrated within one AFM probe.

Microscope image after oxide etching in the active-probe fabrication process.

Oxide-Etched Probe Structures

Microscope images show active-probe structures after the oxide etching step.

Battery and printed circuit board share the capsule enclosure.

Capsule Electronics

A battery and compact circuit board fit inside the miniature capsule enclosure.

A tether links the gastric station with miniaturized sensing satellites.

Satellite Sensor Assembly

Miniature satellite sensors connect to a gastric base station for distributed sensing.

Rolling and turning tests examine capsule motion on wet, textured silicone.

Wet Gastric Phantom

A wet silicone phantom supports tests of capsule rolling and turning motions.

Six internal air channels and a probing grid support robotic palpation validation.

Embedded-Channel Phantom

Internal air channels and a probing grid support robotic palpation of soft phantoms.

In-Vivo Sensor Signals

Pressure, temperature, and impedance signals track feeding and digestion in vivo.

Dual-arm OpenArm platform with BrainCo Revo1 hands, RealSense cameras, and task board.

OpenArm + BrainCo Revo1

Two OpenArm arms and BrainCo hands support coordinated bimanual manipulation.

Robot-mounted tactile gripper beside a laptop displaying its sensor readout.

Gripper Testing

A robot-mounted gripper performs contact tests while displaying tactile signals.

DEXTERA simulated and real sequences of basket lifting and bowl handover.

Cross-Domain Replay

Real and simulated sequences compare basket lifting and bowl handover tasks.

3D printer converted into a macroscopic AFM with ruler cantilever, strain gauge and measured surface data.

3D-Printer AFM

A modified 3D printer uses force feedback to map the shape of a sample surface.

Custom AFM scanner with dimensioned flexure design, finite-element simulation, stacked piezo-buzzer actuation and fabricated prototype.

Custom Scanner Design

Flexure simulations guide the design of a compact stacked piezo-buzzer scanner.

Student-acquired AFM topography with original spatial and height scales, shown on a borderless landscape frame.

Student AFM Topography

Students acquire surface topography using the lab's educational AFM platform.

CAD assembly of an educational atomic force microscope and its mechanical and electronic subsystems.

Educational AFM Platform

An educational AFM brings mechanics, electronics, and measurement into one system.

MINIMAX Lab

MINIMAX Research

Key Techniques and Applications

Mechatronics

Intelligence

Nanorobotics

Instrumentation

Medication

Automation

Interaction Control Across Length Scales

Precision Mechatronics

Biomechatronics

Intelligent Mechatronics

Research Image Gallery