Micromanipulation is considered a challenging task which requires a high level of precision in motion and measurement at micro scale. Specifically, when micromanipulation is about interacting with living organisms at micro level such as micro surgery and cell injection in order to conduct an operation or to measure interaction forces in the aim of investigating some behaviour or properties of living micro-organisms, additional constrains such as physical and chemical properties, living environment, interaction response and delicacy of living organisms should also be considered. Therefore, in bio-micromanipulation, special bio-friendly operations and sensory systems addressing constrains of that bio-operation should be developed. In this perspective, this project aims for two objectives. Firstly, it develops a novel haptically enabled microrobotic cell Injection system considering force modality. Secondly, it aims for a first-of-its-kind micro-pillar based on-chip system for dynamic force measurement of C. elegans in motion.