The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
In this paper, we propose two gait strategies for a limb mechanism robot, called ASTERISK, to move on narrow spaces. Specifically, we describe two types of locomotion, namely, vertical-body climbing gait and horizontal-body climbing gait, that the robot uses to climb on two parallel walls. The proposed strategies are verified through both simulations and experiments on an actual robot. Moreover, to...
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,...
An interesting phenomenon of microfluidic vortices rotating and transmitting like a set of gears has been experimentally observed and is named "Virtual Vortex Gear". We found that the vortices could be serially induced by increasing the driving pressure. Every two closed by vortices were having opposite directions of the swirling. The relation between the vortices and driving pressure has...
A novel microfluidic system for applying cyclic pressure to cells during incubation is developed and tested in this work. The cyclic pressure generates stress stimulus to the cells, and is named “Cell Exercise” in this work. The goal of this paper is to design an “On-Chip Cell Gym” where we can observe what happens during the cell exercise in real-time. We design the cell gym on a PDMS chip composed...
This paper focuses on the comparison of red blood cell (RBC) deformability under continuous and repetitive loadings. We utilized a feedback position-control system and a narrow microfluidic channel for applying different deformation patterns on RBCs. According to the analyses of shape recoveries with different patterns, we found, for the first time, that the mechanical responses of RBCs upon continuous...
“Cell Pinball” is a phenomenon whereby rotating red blood cells (RBCs) move like pinballs inside a microfluidic channel where the cell inertia is negligible. The goal of this paper is to discuss the location of the actual rotational axis through the careful comparison between the contour and contact shapes of a moving RBC. By switching the reflection interference contrast (RIC) and the phase contrast...
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,...
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...
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...
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...
A high-resolution cell manipulation system is presented for investigating red blood cell deformation under long-standing load in this paper. Because the low Reynolds number in microfluidic system, cell position can be manipulated by controlling the flow in a microchannel. A high-speed vision system is embedded in the system for providing cell present position as the feedback signal for the controller...
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...
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...
Recently, observation and manipulation of cells and cell groups have been carried out by using micro hand. However, the common micro hand is fixed to the working environment. Therefore we cannot manipulate the object from various direction. We propose an automatic stage system which can eliminate the limitation of the manipulation direction of the micro hand.
In this paper, we design a robot hand for visual inspection equipped with 3D force sensing. The designed hand is attached to the tip of legs of multi-legged robot ASTERISK. The reason for the robot hand to be equipped to the tip of ASTERISK is that it could meet following four requirements. Firstly, the hand system can catch a 1cm size object such as bolts and wires. Secondly, a small camera is attached...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.