Abstract
Biological cell injection is a laborious work which requires lengthy training and suffers 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 cell injection process. In this paper, a vision-based impedance force control algorithm is proposed based on the modeling of a laboratory test-bed injection system. Visual feedback is used to estimate the injection force, based on which an impedance force control algorithm is developed. Motion planning of the injection pipette is also proposed to complete the whole injection process. Finally, preliminary experimental results are given to show the effectiveness of the proposed approach. ©2006 IEEE.
| Original language | English |
|---|---|
| Title of host publication | 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 |
| Pages | 233-238 |
| DOIs | |
| Publication status | Published - 2006 |
| Event | 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 - Kunming, China Duration: 17 Dec 2006 → 20 Dec 2006 https://ieeexplore.ieee.org/xpl/conhome/4141813/proceeding |
Conference
| Conference | 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 |
|---|---|
| Place | China |
| City | Kunming |
| Period | 17/12/06 → 20/12/06 |
| Internet address |
UN SDGs
This output contributes to the following UN Sustainable Development Goals (SDGs)
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SDG 9 Industry, Innovation, and Infrastructure
Research Keywords
- Biomanipulation
- Cell injection
- Impedance force control
- Microrobotic system
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