Preliminary Experiments in Robot/Human Cooperative Microinjection

Rajesh Kumar, Ankur Kapoor, Russell H. Taylor

Research output: Contribution to conferencePaper

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.

Original languageEnglish (US)
Pages3186-3191
Number of pages6
StatePublished - Dec 26 2003
Event2003 IEEE/RSJ International Conference on Intelligent Robots and Systems - Las Vegas, NV, United States
Duration: Oct 27 2003Oct 31 2003

Other

Other2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityLas Vegas, NV
Period10/27/0310/31/03

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Kumar, R., Kapoor, A., & Taylor, R. H. (2003). Preliminary Experiments in Robot/Human Cooperative Microinjection. 3186-3191. Paper presented at 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, United States.