TY - GEN
T1 - Visual-based impedance force control of three-dimensional cell injection system
AU - Huang, Haibo
AU - Sun, Dong
AU - Mills, James K.
AU - Li, Wen J.
PY - 2007
Y1 - 2007
N2 - Biological cell injection is 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. This makes the control of the injection force an important factor in the cell injection process. In this paper, a vision-based impedance force control algorithm is proposed based on dynamic modeling of a laboratory test-bed injection system. The injection force is calibrated in a cell injection task to derive the relationship between the force and the cell deformation. A cell biomembrane point-load model is utilized in this force calibration. In three-dimensional cell injection task, the total cell membrane deformation is estimated, based on the X-Y coordinate frame deformation of the cell, as measured with a microscope, and the known angle between the injector and the X-Y plane. Further, a relationship between the injection force and the injector visual displacement of the cell membrane is derived. Based on this force visual estimation scheme, an impedance force control algorithm is developed. Finally, experimental results are given which demonstrate the effectiveness of the proposed approach. © 2007 IEEE.
AB - Biological cell injection is 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. This makes the control of the injection force an important factor in the cell injection process. In this paper, a vision-based impedance force control algorithm is proposed based on dynamic modeling of a laboratory test-bed injection system. The injection force is calibrated in a cell injection task to derive the relationship between the force and the cell deformation. A cell biomembrane point-load model is utilized in this force calibration. In three-dimensional cell injection task, the total cell membrane deformation is estimated, based on the X-Y coordinate frame deformation of the cell, as measured with a microscope, and the known angle between the injector and the X-Y plane. Further, a relationship between the injection force and the injector visual displacement of the cell membrane is derived. Based on this force visual estimation scheme, an impedance force control algorithm is developed. Finally, experimental results are given which demonstrate the effectiveness of the proposed approach. © 2007 IEEE.
UR - https://www.scopus.com/pages/publications/36348947524
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-36348947524&origin=recordpage
U2 - 10.1109/ROBOT.2007.364124
DO - 10.1109/ROBOT.2007.364124
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 1424406021
SN - 9781424406029
SP - 4196
EP - 4201
BT - Proceedings - IEEE International Conference on Robotics and Automation
T2 - 2007 IEEE International Conference on Robotics and Automation (ICRA'07)
Y2 - 10 April 2007 through 14 April 2007
ER -