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Construction of an activated three-dimensional (3D) tissue at outside of the human body is desired, and expectations about the micro-manipulation to construct a 3D organization is growing. Although an object is usually observed using an optical microscope in the micro-manipulation, it is difficult to obtain the depth information of the object only from the visual information obtained via a microscope,...
In micromanipulation, lots of methods have been developed to manipulate objects in microscale. However, few of them can be applied in both the transportation and the rotation of the micro objects. In this paper, we present a novel method to realize the non-contact transportation and rotation of the micro objects based on the vibration-induced swirl flow. A piezo actuator is set between the glass needle...
Micromanipulation provides researchers a new way to fabricate complex structures through assembling small components, and it is also a useful tool for single cell manipulation. Many micromanipulation methods have been proposed, but only the few are capable of rotation of the micro targets. In this paper, we present a simple non-contact high-speed rotation method based on the local flow generated by...
In recent years, various robots have been researched and developed. As a part of them, robots working in dangerous place for human beings are attracted attention. The dangerous places include the outdoor irregular ground or the narrow place mainly, so the robots need to have high moving ability. In addition, It also requires high operational ability as same as human. To satisfying these necessities,...
The paper proposes a direct motion tele-teaching system for tele-operation of multi-limbed working robots. In this system, we use a small homothetic robot which is easily handled by operator's hands, whose configuration is similar to the tele-operation robot. In the basic flow of the system, firstly an operator makes the motion by manually operating the small robot and the motion data is recorded...
Many researches have reported that the mechanical stimulus is important factor of the histogenesis and cellular differentiation. However, it is not clearly understood for cellular nucleus how to respond to the mechanical stimulus. Our purpose is applying a mechanical stimulus to cells for gene expression assay. On this paper, we report development of a micro-channel device and evaluating the device...
In micromanipulation, a few of methods can be applied in the rotation of micro objects, which is very important for single cell injection, observation of micro objects and assembly of complex structures. In this paper, we present a novel method to realize the non-contact rotation of the micro objects by the swirl flow which is generated through vibrating glass needle in the fluid. Experiments of rotating...
In order to assemble biological cells for tissue engineering, fast and reliable manipulation is necessary. In this paper, we present a high-speed and precise manipulation system using two-fingered microhand. This system is a fully automated pick-and-place operation of microspheres that can assemble several objects at high speed. To achieve proposed system, special releasing method and vision-based...
We have developed three-dimensional (3D) cell culture devices. The present study investigated that the effect of 3D culture of rat incisor-derived dental epithelial cells on their differentiation into ameloblast-like cells.
The paper describes a method of fault-tolerant adaptive gait generation based on CPG controller with interlimb coordination for multi-limbed working robot. Multi-limbed robot is expected to work in dangerous, complicated narrow spaces, where human workers cannot reach. However, if one of the limbs is broken in the dangerous/narrow working space, human operators cannot go to the space to repair it...
The reliable manipulation of micro-objects has been a still difficult work in scientific and technical field due to scale effects. This paper presents two types of release methods, using local stream and inertia force generated by 3D high speed motion of an end effector, for releasing and accurate positioning of biological cells. Two-fingered microhand driven by DC motors for both end effectors and...
Inspection and maintenance are extremely important to maintain safety and long-term usability of bridges. This application requires a robot that is able to maneuver in a complex 3D environment and to stabilize on steel surfaces to perform bolts checking. We propose a novel design and concept of hybrid (integrated walkability and flyability) robot for steel bridge inspection and maintenance. Our proposed...
Since the beginning of industrial age, more plants were founded in order to serve the demand of the economic growth. Along with more bridges were built to connect different cities together in order for a more convenient transportation. As years passed by, all of those facilities have became old which mean regular maintenance are required. We started the limb mechanism project almost 20 years ago aiming...
Cell tissue construction is one of the important issues for tissue engineering, which is a key-technology in regenerative medicine. Recently, several studies have reported, the in vitro fabrication of simple cell tissues. However, organs are made of some kinds of cells and they are complex tissues. Therefore, a technology to reproduce the complex structure and biological function of the organ is needed...
Anshin is a sort of mental state of human and has some values in Japanese daily life. Anshin will be explained in its meaning and in comparison with physical safety. The authors would assume that Anshin brings definite values to service robots and makes them more useful in their actual applications. The paper also discusses how robot can be provided with Anshin in a technical manner. One design process...
Recently, manipulation and observation of the cells are actively conducted in order to analyze the biological phenomena. Since the micro hand is usually fixed to the work environment, grasping target point of the cell on the opposite side of the micro hand by using a micro hand is limited by narrow workspace. If we move the micro hand in vertical direction to grasp the target point of the cell on...
In this research, we present an object search framework using robot-gaze interaction that support patients with motor paralysis conditions. A patient can give commands by gazing to the target object and a robot starts to search autonomously. Apart from multiple gaze interaction, our approach uses few gaze interaction to specify location clue and object clue and thus integrates the RGB-D sensing to...
Since the beginning of industrial age, more plants were founded in order to serve the demand of the growing economic. Along with more bridges were built to connect different cities together in order for a more convenience transportation. As years passed by, all of those facilities have become old which mean regular maintenance is required. This project, inspection robot, started several years ago...
Cell-scaffold interaction is important for characterizing cell's mechanism such as differentiation or migration of cells. Therefore analyzing technique of the force exerted by a cell is required. In this research, we aim to realize high speed measurement of cellular traction force by applying the technique of existing vision-based tactile sensor. To achieve the measurement, we need to fabricate cellular...
Cell tissue construction is one of the important issues for tissue engineering, which is a key-technology in regenerative medicine. Recently, several studies have reported, the in vitro fabrication of simple cell tissues. However, organs are made of some kinds of cells and they are complex tissues. Therefore, a technology to reproduce the complex structure and biological function of the organ is needed...
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