By Topic

Penetration force measurement and control in robotic cell microinjection

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Yu Xie ; Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, Hong Kong, China ; Dong Sun ; Chong Liu

In a robotic cell injection system, the penetration force applied on the cell reflects the changes of the physical behavior of the cell. The force, if not controlled properly, may damage to the cells or even lead to death of the cells. The current cellular force measurement is limited by the inherent cantilever structure of the sensor, which may not be applicable to a practical cell injection system. In this paper, a simply supported beam structure based PVDF force sensor is first presented. The proportion relation is established between the penetration force and the sensor output after compensation. Using the designed force sensor, the force applied on the cell can be measured, and a force control based cell injection system is constructed. The experimental results performed on zebrafish embryos demonstrate the effectiveness of the micro force sensor and the force based control framework.

Published in:

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference:

10-15 Oct. 2009