A Force Control Approach to a Robot-assisted Cell Microinjection System

International Journal of Robotics Research - Tập 29 Số 9 - Trang 1222-1232 - 2010
Yongchun Xie1, Dong Sun1, Chengguo Liu1, Ho Yan Gloria Tse2, Shuk Han Cheng2
1Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Hong Kong
2Department of Biology and Chemistry, City Universityof Hong Kong, Hong Kong#TAB#

Tóm tắt

Robotic cell microinjection is a technique that utilizes automation technology to insert substances into a single living cell with a fine needle. Compared with manual microinjection, the main benefits of the robotic cell injection are quality, productivity and repeatability. In this paper we aim to control the penetration force during robotic cell injection to quantify the influence of the penetration force on cells. A force-control-based cell injection approach that is capable of regulating the penetration force in a desired force trajectory is developed. The proposed force control framework includes two control loops. The inner loop is an impedance control used to specify the interaction between the needle and the cell. The outer loop is a force tracking non-linear controller using a feedback linearization technique. The cell model is identified online with a least-squares parameter estimator. With the proposed force control approach, the penetration force can be regulated explicitly to follow the desired force trajectory during the cell injection process. Experiments performed on fish embryos verify the effectiveness of the proposed approach.

Từ khóa


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Thông tin
Thông tin xuất bản

International Journal of Robotics Research

Tập 29 Số 9

1222-1232

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