Preliminary Experiments in Robot/Human Cooperative Microinjection

Rajesh Kumar, Ankur Kapoor, Russell H Taylor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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)
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages3186-3191
Number of pages6
Volume4
Publication statusPublished - 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

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Kumar, R., Kapoor, A., & Taylor, R. H. (2003). Preliminary Experiments in Robot/Human Cooperative Microinjection. In IEEE International Conference on Intelligent Robots and Systems (Vol. 4, pp. 3186-3191)