A Visual Impedance Force Control of A Robotic Cell Injection System

@article{Huang2006AVI,
  title={A Visual Impedance Force Control of A Robotic Cell Injection System},
  author={Haibo Huang and Dong Sun and James K. Mills and Wen Jung Li},
  journal={2006 IEEE International Conference on Robotics and Biomimetics},
  year={2006},
  pages={233-238}
}
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… CONTINUE READING
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