{
  "abstract": "Dexterous manipulation is a fundamental yet unresolved topic in robotics, particularly in the realm of micro-manipulation of flexible objects. The complex interplay among external forces, intrinsic material properties, and environmental factors that govern shape deformation presents significant challenges to learning and control. This paper introduces a mechano-flow co-manipulation scheme for flexible micro-objects. It achieves precise handling of floating micro-objects by dynamically adjusting the flow field at the air-liquid interface, enabling simultaneous control of both manipulation and focal planes. A real-time flow prediction framework is proposed based on a reversible neural network, termed FlowNet, achieving bidirectional prediction of input flow and resulting spatio-temporal flow distribution with high accuracy. Through experimental validation, including linear-drive characterization, open-loop trajectory following, and manipulation of different flexible objects, we demonstrate the system's versatility, precision, and stability. The proposed system offers a promising approach for micro-manipulation through mechano-flow interaction for flexible micro-objects.",
  "abstract_shown": true,
  "affiliations": [
    "Shanghai Key Laboratory of Flexible Medical Robotics, Tongren Hospital, Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China.",
    "Institute of Medical Robotics, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China.",
    "Shanghai Key Laboratory of Flexible Medical Robotics, Tongren Hospital, Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China. yao.guo@sjtu.edu.cn.",
    "Institute of Medical Robotics, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China. yao.guo@sjtu.edu.cn.",
    "Shanghai Key Laboratory of Flexible Medical Robotics, Tongren Hospital, Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China. gzyang@sjtu.edu.cn.",
    "Institute of Medical Robotics, School of Biomedical Engineering, Shanghai Jiao Tong University, Shanghai, China. gzyang@sjtu.edu.cn."
  ],
  "article_type": "research article",
  "arxiv": null,
  "author_total": 5,
  "authors": [
    {
      "affs": [
        0,
        1
      ],
      "name": "Yujian An"
    },
    {
      "affs": [
        1
      ],
      "name": "Jianxin Yang"
    },
    {
      "affs": [
        0,
        1
      ],
      "name": "Bingze He"
    },
    {
      "affs": [
        2,
        3
      ],
      "name": "Yao Guo",
      "orcid": "0000-0001-8041-1245"
    },
    {
      "affs": [
        4,
        5
      ],
      "name": "Guang-Zhong Yang",
      "orcid": "0000-0003-4060-4020"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/36x0qaab244hs.bib",
  "cited_by": 0,
  "doi": "10.1038/s41467-026-77746-z",
  "fulltext_url": "https://europepmc.org/articles/PMC13687018",
  "id": "36x0qaab244hs",
  "issns": [
    "2041-1723"
  ],
  "landing_url": "https://europepmc.org/article/MED/42907462",
  "language": "eng",
  "licence": "CC-BY-NC-ND",
  "licence_label": "CC BY-NC-ND",
  "licence_source": "article",
  "licence_url": "https://creativecommons.org/licenses/by-nc-nd/4.0/",
  "metadata_licence": null,
  "native_subjects": [
    [
      "openalex",
      "3104|Micro and Nano Robotics"
    ]
  ],
  "openalex": "W7213903746",
  "pdf_url": "https://europepmc.org/articles/PMC13687018?pdf=render",
  "pmcid": "PMC13687018",
  "pmid": "42907462",
  "published": "2026-09-21",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/36x0qaab244hs.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:19:57Z",
      "native_id": "MED:42907462",
      "source": "europepmc",
      "url": "https://europepmc.org/article/MED/42907462"
    }
  ],
  "subjects": [
    {
      "field": "physics",
      "origin": "openalex:3104|Micro and Nano Robotics",
      "subfield": "condensed-matter"
    }
  ],
  "title": "Learning for micro-scale mechano-flow co-manipulation.",
  "title_text": "Learning for micro-scale mechano-flow co-manipulation.",
  "type": "peer-reviewed",
  "updated_at": "2026-10-30T12:19:57Z",
  "url": "https://research.draconitic.com/paper/36x0qaab244hs",
  "venue": "Nature communications",
  "versions": []
}