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. 2016 Jan 21;6:19041. doi: 10.1038/srep19041

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Copyright © 2016, Macmillan Publishers Limited

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A record of these motions is presented in Video 2. (a–c) Display the schematics of each motion. The displayed forces are the force applying on the RTS. The traction forces are due to the friction between the RTS and the surface. (d–f) Present the frequency domain and parameter of the actuations of RTS in each mode. For each point in the curves, four experiments are made on each side of a 200 μm square. Finally, (g,h) and (i) present the particular advantages of each motion. Video 3 shows a recording of the closed-loop control in spintop motion.