Ohmi Fuchiwaki Akira Ito Daigo Misaki Hisayuki Aoyama Multi-axial micromanipulation organized by versatile micro robots and micro tweezers. 893-898 2008 ICRA https://doi.org/10.1109/ROBOT.2008.4543318 conf/icra/2008 db/conf/icra/icra2008.html#FuchiwakiIMA08