Title :
Preliminary experiments in robot/human cooperative microinjection
Author :
Kumar, Rajesh ; Kapoor, Ankur ; Taylor, Russell H.
Author_Institution :
Foster-Miller Inc., Waltham, MA, USA
Abstract :
This paper reports preliminary experiments with a cooperative robot system to augment single cell manipulation tasks. The JHU "Steady-Hand" robot configuration for cell manipulation is reported. Stable force control laws for the "Steady Hand" are revisited. Preliminary experiments validating stable insertion of a micropipette in a mouse embryo are detailed along with formulation of vision based tracking and augmentation. These preliminary experiments demonstrate promise of cooperative augmentation in single cell manipulation tasks.
Keywords :
end effectors; force control; laboratory techniques; man-machine systems; micromanipulators; position control; tracking; JHU steady-hand robot; force control law; micropipette insertion; mouse embryo; robot/human cooperative microinjection; single cell manipulation; vision based tracking; Animals; Embryo; Force control; Genetics; Humans; Laser feedback; Mice; Microinjection; Micromanipulators; Robot sensing systems;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249647
