In the process of microassembly

excessive force may damage both the microgripper and the micropart

while deficient force may cause grasp failure. Therefore

it is necessary to measure the force applied to the micropart. Micro-force measurement methods in the research field of microassembly are reviewed. These microforce measurement methods are divided into two classes: contact ones and non-contact. Implement principle

measurement parameters

advantage and disadvantage of contact and non-contact methods are summarized. Visionbased micro-force measurement method

one of the most applicable values among these methods

is introduced in details. Using the microscope and camera already equipped in the microassembly workstation

vision-based microforce measurement method takes scene images of the microgripper and the micropart

implements image processing and analysis

and estimates applied force. This method requires no extra equipment and has no interference with the present microassembly workstation. And

future development direction is prospected.