Journal
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
Volume 29, Issue 9, Pages 1222-1232Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0278364909354325
Keywords
fish embryo; force control; impedance control; robotic cell microinjection
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Funding
- Research Grants Council of the Hong Kong Special Administrative Region, China [CityU 120308]
- City University of Hong Kong [9360131]
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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.
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