ICRA 2011 Paper Abstract

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Paper WeA213.3

Kim, Jungsik (Korea Advanced Institute of Science and Technology (KAIST)), Chang, Dongjune (KAIST), Ladjal, Hamid (ENSI Bourges, University Orleans), Folio, David (ENSI de Bourges), Ferreira, Antoine (University of Orléans), Kim, Jung (KAIST)

Evaluation of Telerobotic Shared Control for Efficient Manipulation of Single-Cells in Microinjection

Scheduled for presentation during the Regular Sessions "Medical Robots II" (WeA213), Wednesday, May 11, 2011, 10:35−10:50, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on December 8, 2019

Keywords Medical Robots and Systems, Telerobotics

Abstract

Microinjection is the highly efficient delivery method of exogenous materials into cells, and it has been widely used in biomedical research areas such as transgenics and genomics. However, this direct injection task is time consuming and laborious, resulting in low throughput and poor reproducibility. This paper describes a telerobotic shared control (TSC) framework for the microinjection with high manipulation efficiencies, in which a micromanipulator is controlled by the shared motion commands of both the human operator (direct manipulation) and the autonomous controller. To determine the optimal gains between the operator and the controller, we proposed a quantitative evaluation method using Fitts’ and steering laws. The results showed that a 40%–60% weighting on the human operator produced better performance for both speed and accuracy of task completion, and suggested that some level of automation or human involvement is important for microinjection tasks.

 

 

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