High fidelity force feedback facilitates manual injection in biological samples - Archive ouverte HAL Access content directly
Journal Articles IEEE Robotics and Automation Letters Year : 2020

High fidelity force feedback facilitates manual injection in biological samples

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Abstract

Micro-teleoperated interaction with biological cells is of special interest.The low fidelity of previous systems aimed at such small scale tasks prompted the design of a novel manual bilateral cell injection system. This systems employed the coupling of a null-displacement active force sensor with a haptic device having negligible effective inertia. This combination yielded a bilateral interaction system that was unconditionally stable even when the scaling gains were high. To demonstrate the capability of this system, two experiments were performed. A hard trout egg was delicately punctured and a small dye amount was injected in an embryo within a zebra fish egg without causing other forms of damage. The results demonstrate that the system let an operator dextrously interact with reduced reliance on visual feedback.
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Dates and versions

hal-03190990 , version 1 (26-04-2021)

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Attribution - CC BY 4.0

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Abdenbi Mohand Ousaid, Sinan Haliyo, Stephane Regnier, Vincent Hayward. High fidelity force feedback facilitates manual injection in biological samples. IEEE Robotics and Automation Letters, 2020, 5 (2), pp.1758-1763. ⟨10.1109/LRA.2020.2969940⟩. ⟨hal-03190990⟩
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