I. Introduction
Contact micromanipulation has become increasingly prevalent in recent years, coinciding with the significant progress in biotechnology and micro-/nano-robotics techniques [1], [2], [3], [4]. In contact micromanipulation, the end-effectors of a robot physically touch the targets and apply mechanical force to perform pick-and-place tasks [5], [6], [7], [8], which achieves a certain spatial arrangement of the targets with no need for electrical or optical interference [9], [10]. The dexterity and accuracy of the interaction with fragile targets at the microscale depend on the configuration of the end-effectors, which are regarded as the “fingers” of the micromanipulation system. For targets with different shapes and dimensions involved in a sequence of subtasks, micromanipulation systems can configure the expected numbers of fingers with different tip sizes, positioning accuracies, and speeds [11], [12], [13].