TY - GEN
T1 - Automated micromanipulation for a microhand with all-in-focus imaging system
AU - Nguyen, Chanh Nghiem
AU - Ohara, Kenichi
AU - Avci, Ebubekir
AU - Takubo, Tomohito
AU - Mae, Yasushi
AU - Arai, Tatsuo
PY - 2011
Y1 - 2011
N2 - For potential applications in bioscience, a two-fingered microhand with dexterous manipulation capability was developed. This microhand system could perform dexterous tasks such as cell rotation, single cell pick-and-place, cell patterning, and measurement of mechanical properties of living cells. However, it is a tedious task to manipulate micro objects manually. In order to improve the efficiency of the system, automated micromanipulation is required. This paper describes how to automate micromanipulation for this two-fingered microhand so that it can perform desired tasks more efficiently, more accurately, and faster. By integrating an All-In-Focus imaging system to the microhand system, 3D positions of the two microfinger tips and micro target objects can be obtained. These 3D positions are necessary for the microhand to handle the target object automatically. We demonstrate this capability by a pick-and-place task with multi-sized microspheres. Short time for object grasping and success rate over 70% for all cases could be achieved.
AB - For potential applications in bioscience, a two-fingered microhand with dexterous manipulation capability was developed. This microhand system could perform dexterous tasks such as cell rotation, single cell pick-and-place, cell patterning, and measurement of mechanical properties of living cells. However, it is a tedious task to manipulate micro objects manually. In order to improve the efficiency of the system, automated micromanipulation is required. This paper describes how to automate micromanipulation for this two-fingered microhand so that it can perform desired tasks more efficiently, more accurately, and faster. By integrating an All-In-Focus imaging system to the microhand system, 3D positions of the two microfinger tips and micro target objects can be obtained. These 3D positions are necessary for the microhand to handle the target object automatically. We demonstrate this capability by a pick-and-place task with multi-sized microspheres. Short time for object grasping and success rate over 70% for all cases could be achieved.
UR - https://www.scopus.com/pages/publications/84455191536
U2 - 10.1109/IROS.2011.6048780
DO - 10.1109/IROS.2011.6048780
M3 - Conference contribution
AN - SCOPUS:84455191536
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 427
EP - 432
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -