Qingsong Xu
University of Macau, China
Title: Design and Application of Force-Sensing Robotic Bio-Micromanipulation Systems
Biography
Biography: Qingsong Xu
Abstract
Robotic micromanipulation systems are demanding devices to realize automated manipulation of biological samples. Majority of existing robotic bio-micromanipulation systems work based on displacement sensing and control. The lack of force sensing prevents the wide application of the devices. In modern biotech industry, there are increasing needs for advanced micromanipulation equipment with microforce sensing and control capabilities. The development of force-sensing microinjectors and microgrippers enable extensive applications involving biological field with guaranteed safety and accuracy of advanced robotic manipulation. This talk reports our recent work on design and development of new force-sensing robotic micromanipulation systems dedicated to biological micromanipulation tasks. In particular, force-sensing microinjector and force-sensing microgripper are presented as typical examples. New microforce sensor design is conducted in details. Novel control schemes have been developed to fuse the position and force control to enable a safe and reliable manipulation. The effectiveness of the systems has been demonstrated by carrying out microinjection and microgripping operation of biological cells. The developed force-sensing robotic bio-micromanipulation systems have demonstrated wide applications in the fields of biomedical engineering, gene engineering and so on.