Robotic micromanipulation is a relatively young field. However, after three decades of
development and evolution, the fundamental physics; techniques for sensing, actuation, and
control; tool sets and systems; and, more importantly, a research community are now in
place. This article reviews the fundamentals of robotic micromanipulation, including how
micromanipulators and end effectors are actuated and controlled, how remote physical fields
are utilized for micromanipulation, how visual servoing is implemented under an optical …