ICRA 2011 Paper Abstract


Paper WeP206.4

Tan, Youhua (City University of HongKong), Sun, Dong (City University of Hong Kong), Li, Ronald Adolphus (the University of Hong Kong), Cheng, Shuk Han (City University of Hong Kong)

Robotic Manipulation with Optical Tweezers in Cell Stretching Process for Biomechanical Characterization

Scheduled for presentation during the Regular Sessions "Micro-Nano Robots IV" (WeP206), Wednesday, May 11, 2011, 16:10−16:25, Room 5A

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 July 14, 2020

Keywords Micro/Nano Robots, Micro and Nanoscale Automation


This paper presents robotic manipulation in cell stretching process for biomechanical characterization. Optical traps serve as end-effectors to manipulate micro-beads attached to the cell surface. The dynamics of the cell-bead mixture during cell stretching is investigated for the first time. Based on our previous work, cell stiffness is extracted and biomechanical properties of cells can be characterized. Our study shows that the modeling results agree with the experimental data. Further, the area compressibility moduli of two types of heart stem cells, human embryonic stem cells (hESC) and hESC-derived cardiomyocytes (hESC-CM), are characterized. The results indicate that undifferentiated stem cells are stiffer than differentiated ones, which provides an important insight into the cell mechanics during hESC differentiation. This paper successfully demonstrates that the robot-tweezer system can manipulate biological cells effectively to characterize biomechanical properties of living cells.



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