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Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots

Accurate control and precise positioning of opto-thermocapillary flow-addressed bubble microrobots are necessary for micromanipulation. In addition, micromanipulation using the simultaneous actuation of multiple microrobots requires a robust control system to enable independent motion. This paper de...

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Autores principales: Rahman, M. Arifur, Takahashi, Noboru, Siliga, Kawai F., Ng, Nigel K., Wang, Zhidong, Ohta, Aaron T.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Springer Berlin Heidelberg 2017
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5662703/
https://www.ncbi.nlm.nih.gov/pubmed/29152448
http://dx.doi.org/10.1186/s40638-017-0064-4
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author Rahman, M. Arifur
Takahashi, Noboru
Siliga, Kawai F.
Ng, Nigel K.
Wang, Zhidong
Ohta, Aaron T.
author_facet Rahman, M. Arifur
Takahashi, Noboru
Siliga, Kawai F.
Ng, Nigel K.
Wang, Zhidong
Ohta, Aaron T.
author_sort Rahman, M. Arifur
collection PubMed
description Accurate control and precise positioning of opto-thermocapillary flow-addressed bubble microrobots are necessary for micromanipulation. In addition, micromanipulation using the simultaneous actuation of multiple microrobots requires a robust control system to enable independent motion. This paper demonstrates a hybrid closed-loop vision-assisted control system capable of actuating multiple microrobots simultaneously and positioning them at precise locations relative to micro-objects under manipulation. A vision-assisted grasp-planning application was developed and used to calculate the necessary trajectories of the microrobots to form cages around micro-objects. The location of the microrobots and the micro-objects was detected at the caging locations using a particle-tracking application that used image feedback for precise positioning. The closed-loop image feedback information enabled the position update of the microrobots, allowing them to precisely follow the trajectory and caging locations calculated by the grasp-planning application. Four microrobots were assigned to cage a star-shaped micro-object using the closed-loop control system. Once caged, the micro-object was transported to a location within the workspace and uncaged, demonstrating the micromanipulation task. This microrobotic system is well suited for the micromanipulation of single cells. ELECTRONIC SUPPLEMENTARY MATERIAL: The online version of this article (doi:10.1186/s40638-017-0064-4) contains supplementary material, which is available to authorized users.
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spelling pubmed-56627032017-11-15 Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots Rahman, M. Arifur Takahashi, Noboru Siliga, Kawai F. Ng, Nigel K. Wang, Zhidong Ohta, Aaron T. Robotics Biomim Research Accurate control and precise positioning of opto-thermocapillary flow-addressed bubble microrobots are necessary for micromanipulation. In addition, micromanipulation using the simultaneous actuation of multiple microrobots requires a robust control system to enable independent motion. This paper demonstrates a hybrid closed-loop vision-assisted control system capable of actuating multiple microrobots simultaneously and positioning them at precise locations relative to micro-objects under manipulation. A vision-assisted grasp-planning application was developed and used to calculate the necessary trajectories of the microrobots to form cages around micro-objects. The location of the microrobots and the micro-objects was detected at the caging locations using a particle-tracking application that used image feedback for precise positioning. The closed-loop image feedback information enabled the position update of the microrobots, allowing them to precisely follow the trajectory and caging locations calculated by the grasp-planning application. Four microrobots were assigned to cage a star-shaped micro-object using the closed-loop control system. Once caged, the micro-object was transported to a location within the workspace and uncaged, demonstrating the micromanipulation task. This microrobotic system is well suited for the micromanipulation of single cells. ELECTRONIC SUPPLEMENTARY MATERIAL: The online version of this article (doi:10.1186/s40638-017-0064-4) contains supplementary material, which is available to authorized users. Springer Berlin Heidelberg 2017-10-30 2017 /pmc/articles/PMC5662703/ /pubmed/29152448 http://dx.doi.org/10.1186/s40638-017-0064-4 Text en © The Author(s) 2017 Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
spellingShingle Research
Rahman, M. Arifur
Takahashi, Noboru
Siliga, Kawai F.
Ng, Nigel K.
Wang, Zhidong
Ohta, Aaron T.
Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots
title Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots
title_full Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots
title_fullStr Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots
title_full_unstemmed Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots
title_short Vision-assisted micromanipulation using closed-loop actuation of multiple microrobots
title_sort vision-assisted micromanipulation using closed-loop actuation of multiple microrobots
topic Research
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5662703/
https://www.ncbi.nlm.nih.gov/pubmed/29152448
http://dx.doi.org/10.1186/s40638-017-0064-4
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