arXiv subjects

Tianle Pan

Publications and source records attributed to Tianle Pan.

3 recordsLinked to original sources

arXiv2026

A Solid-state Sub-nm Pore for Single-mer Resolution Sequencing

Nanopore sequencing accuracy is inherently limited by the quality of data from individual molecular translocation events, requiring advances beyond traditional sequencing-by-synthesis methods. We introduce an oxidized pyramidal sub-nm pore (OPSP) integrated in a threeterminal sensing platform, where the sub-nm silicon pore functions as an electrode for detecting displacement currents across an oxide barrier, induced by counter-ion migration within the electric double layer. This platform achieves sub-1-nm-scale spatial resolution and a signal-tonoise ratio (SNR) up to 15 for biopolymer sequencing, enabling direct identification of individual bases in single-stranded DNA and single amino acids in peptides, with raw-read accuracies exceeding 98.5% and 95.5%, respectively, without consensus-based computational correction. The OPSP demonstrates high acid tolerance, reusability in varied chemical environments, and operational stability for over six months. This work establishes OPSP as a durable, high-accuracy platform for single-mer resolution sequencing, defining a reliable and robust paradigm for next-generation sequencing technologies.

physics.app-ph↗

arXiv2025

Everything-Grasping (EG) Gripper: A Universal Gripper with Synergistic Suction-Grasping Capabilities for Cross-Scale and Cross-State Manipulation

Grasping objects across vastly different sizes and physical states-including both solids and liquids-with a single robotic gripper remains a fundamental challenge in soft robotics. We present the Everything-Grasping (EG) Gripper, a soft end-effector that synergistically integrates distributed surface suction with internal granular jamming, enabling cross-scale and cross-state manipulation without requiring airtight sealing at the contact interface with target objects. The EG Gripper can handle objects with surface areas ranging from sub-millimeter scale 0.2 mm2 (glass bead) to over 62,000 mm2 (A4 sized paper and woven bag), enabling manipulation of objects nearly 3,500X smaller and 88X larger than its own contact area (approximated at 707 mm2 for a 30 mm-diameter base). We further introduce a tactile sensing framework that combines liquid detection and pressure-based suction feedback, enabling real-time differentiation between solid and liquid targets. Guided by the actile-Inferred Grasping Mode Selection (TIGMS) algorithm, the gripper autonomously selects grasping modes based on distributed pressure and voltage signals. Experiments across diverse tasks-including underwater grasping, fragile object handling, and liquid capture-demonstrate robust and repeatable performance. To our knowledge, this is the first soft gripper to reliably grasp both solid and liquid objects across scales using a unified compliant architecture.

cs.RO↗

arXiv2024

In-tube micro-pyramidal silicon nanopore for inertial-kinetic sensing of single molecules

Electrokinetic force has been the major choice for driving the translocation of molecules through a nanopore. However, the use of this approach is limited by an uncontrollable translocation speed, resulting in non-uniform conductance signals with low conformational sensitivity, which hinders the accurate discrimination of the molecules. Here, we show the first use of inertial-kinetic translocation induced by spinning an in-tube micro-pyramidal silicon nanopore fabricated using photovoltaic electrochemical etch-stop technique for biomolecular sensing. By adjusting the kinetic properties of a funnel-shaped centrifugal force field while maintaining a counter-balanced state of electrophoretic and electroosmotic effect in the nanopore, we achieved regulated translocation of proteins and obtained stable signals of long and adjustable dwell times and high conformational sensitivity. Moreover, we demonstrated instantaneous sensing and discrimination of molecular conformations and longitudinal monitoring of molecular reactions and conformation changes by wirelessly measuring characteristic features in current blockade readouts using the in-tube nanopore device.

physics.app-ph↗