本研究利用「光機電系統控制實驗室」歷年研究發展之微夾持器與形狀記憶合金致動器進行設計改良與微小化，搭配光學顯微鏡、機械臂與影像視覺系統整合成微夾持系統。
　　影像系統部份運用圖形搜尋方式，求得玻璃粒子與夾持器位置，並利用虛擬實境的技術重建場景，作為輔助使用者的人機介面。最後經過測試，可夾持與搬運20~40μm之玻璃粒子，完成微夾持系統之設計。

　　In this thesis, the size of micro-compliant gripper and SMA actuator developed by “Opto-Mechatronic System Control Laboratory” has been reduced and redesigned. By integrating optical microscope, manipulator, and image acquisition system to the previous parts, then it becomes a micro-manipulator system.
　　In image acquisition system, the feature patterns of image are acquired by the pattern matching method to get geometric center and spot of gripping. Then the virtual scene is constructed for human machine interface. Finally, in our test, the gripper can grasp the sphere particle with diameter 20~40μm.

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