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Conference Papers Year : 2017

High-bandwidth 3d force feedback optical tweezers for interactive bio-manipulation

Abstract

Optical Tweezers are considered one of the most suitable techniques for biological tasks, however the lack of automation make this technology less accessible. We present here a new 3D force sensing method with high bandwidth (up to 10Khz) which can allow implementing complex robotic approaches. Proposed technique uses high speed image tracking with nano-metric resolution in 3 directions. Its capabilities are demonstrated in a teleoperated 3D manipulation scenario with a haptic user interface, where naive users performed direct in vitro haptic exploration of isolated Red Blood Cells inside a Petri dish.
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Dates and versions

hal-03190970 , version 1 (15-09-2023)

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Munan Yin, Edison Gerena, Cecile Pacoret, Sinan Haliyo, Stephane Regnier. High-bandwidth 3d force feedback optical tweezers for interactive bio-manipulation. 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada., 2017, Vancouver, Canada. pp.1889-1894, ⟨10.1109/IROS.2017.8206006⟩. ⟨hal-03190970⟩
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