NanoNewton Force Sensing and Control in Microrobotic Cell Manipulation

  title={NanoNewton Force Sensing and Control in Microrobotic Cell Manipulation},
  author={Xinyu Liu and Keekyoung Kim and Yong Zhang and Yu Sun},
  journal={I. J. Robotics Res.},
Cellular force sensing and control techniques are capable of enhancing the dexterity and reliability of microrobotic cell manipulation systems. This paper presents a vision-ba sed cellular force sensing technique using a microfabricated e lastic cell holding device and a sub-pixel visual tracking algorit hm for resolving forces down to 3.7nN during microrobotic mouse embryo injection. The technique also experimentally proves useful for in situ differentiation of healthy mouse embryos from those… CONTINUE READING
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