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Zebrafish is increasingly used as a model for the pathogenic mechanisms of human disease and drug discovery. Robot-assisted microinjection has attracted much attention due to their great potential in providing high precision and high throughput in biological industry. In this paper, we propose a flexible and integrated robot-assisted microinjection platform, which is able to (1) conduct precise position/velocity...
This paper presents a simple and global stable nonlinear proportional-integral-derivative (N-PID) controller incorporated with a new saturated function design. The new class of saturated function is derived from quasi-natural potential function to shape the position and velocity errors. The coordinate of the saturated function is either in joint space or in Cartesian space, and the function is adjustable...
Robotic cell microinjection is a technique that employs an automatic method to insert substances into a single living cell with a fine needle. Most available microinjection methods are based on position/velocity tracking, which make it incapable of controlling the injection force. The uncontrolled injection force, however, may destroy the cell and lead to the death of the cell. In this paper, a new...
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