TY - GEN
T1 - Dynamic releasing of biological cells at high speed using parallel mechanism to control adhesion forces
AU - Avci, Ebubekir
AU - Yabugaki, Hiroyuki
AU - Hattori, Takayuki
AU - Kamiyama, Kazuto
AU - Kojima, Masaru
AU - Mae, Yasushi
AU - Arai, Tatsuo
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - In this paper, a dynamic releasing method for high-speed biological cell manipulation is proposed. A compact parallel mechanism, used for grasping and releasing microob-jects, was utilized for generating controllable vibration to overcome the strong adhesion forces between the end effector and the manipulated object. To reach the required acceleration of the end effector, which is necessary for the detachment of the target object, vibration in the end effector is generated by applying sinusoidal voltage to the PZT actuator of the parallel mechanism. For the necessary acceleration, we focus on the frequency of the vibration, while keeping the amplitude of the PZT actuator vibration small (14 nm) to achieve precise positioning. Releasing of microbeads and biological cells is conducted and results are compared for the first time. The effect of the air and liquid environments are also investigated. Successful releasing (97.5%) of biological cells proves that the proposed active releasing method is an appropriate solution for the adhered biological cells during the releasing task.
AB - In this paper, a dynamic releasing method for high-speed biological cell manipulation is proposed. A compact parallel mechanism, used for grasping and releasing microob-jects, was utilized for generating controllable vibration to overcome the strong adhesion forces between the end effector and the manipulated object. To reach the required acceleration of the end effector, which is necessary for the detachment of the target object, vibration in the end effector is generated by applying sinusoidal voltage to the PZT actuator of the parallel mechanism. For the necessary acceleration, we focus on the frequency of the vibration, while keeping the amplitude of the PZT actuator vibration small (14 nm) to achieve precise positioning. Releasing of microbeads and biological cells is conducted and results are compared for the first time. The effect of the air and liquid environments are also investigated. Successful releasing (97.5%) of biological cells proves that the proposed active releasing method is an appropriate solution for the adhered biological cells during the releasing task.
UR - http://www.scopus.com/inward/record.url?scp=84929192930&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2014.6907408
DO - 10.1109/ICRA.2014.6907408
M3 - Conference contribution
AN - SCOPUS:84929192930
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3789
EP - 3794
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -