Visual-based Impedance Force Control of Out-of-Plane Cell Injection Systems
DescriptionBiological cell injection is laborious work requiring lengthy training and suffering from a low success rate. Even a tiny excessive manipulation force can destroy the membrane or tissue of the biological cell, and lead to failure of the biomanipulation task. This makes the control of the injection force an important factor in the cell injection process. In this project, the researchers propose to develop a vision-based impedance force control algorithm based on dynamic modelling of a laboratory test-bed injection system. First, the injection force will be calibrated in a cell injection task to derive the relationship between the force and the cell deformation. Significantly, the injector is not positioned in the same plane as the focal plane of the camera used to obtain visual feedback for the process. Second, based on this force visual estimation scheme, an impedance force control algorithm will be developed. To solve the visual distance uncertainty problem, an adaptive impedance control algorithm will be further developed. Finally, experiments will be performed to demonstrate the effectiveness of the proposed approach.
|Effective start/end date||1/04/07 → 30/01/09|