Figure 1. Concept of the manipulation method.

(a) Schematic of the experimental set-up: the set-up consists of a vibrating plate (I) with the manipulated objects on top, mounted on a piezoelectric actuator (II). The plate is imaged by a camera (III), and the locations of the objects are detected by a computer (IV). The computer chooses next note (V) to be played, so the objects move approximately towards their desired directions. (b) Chladni figures and modelled displacement fields for two different frequencies. (c) Simultaneous manipulation of three 600 μm solder balls. (d) Manipulation of a 7 mm washer. Scale bars, 1 cm.