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In this research, we fabricated movable toroidal cell structures inside a microfluidic device for tissue engineering applications. A photo-crosslinkable biodegradable hydrogel gelatin methacrylate (GelMA) was employed to encapsulate biological cells for assembling cell structures. The UV light power and the concentration GelMA hydrogel were optimized to achieve both fabrication of microstructures...
The interaction test between a robotic rat and living rat is considered as a possible way to quantitatively characterize the rat sociality. In such robot-rat interactions, the robot should be designed to fully replicate a real rat in terms of morphological and behavioral characteristics. To address this problem, a multi-jointed robot prototype has been modified based on our previous work. We optimally...
In this paper, we introduce a walking load control strategy with a cane-type robot for gait training. The population of elderly people is increasing in most of the developed countries, and there is a growing demand for caregivers. Assistive robots are expected as a solution to provide aid in order to reduce the burden of caregivers in gait training of elderly people. Our research group has been developing...
This paper describes a octo-rotor unmanned aerial vehicle (UAV) with one degree of freedom (DoF) manipulator for bridge inspection. The UAV has an ability to contact bridge pier to conduct hammering test. To control contact force applied by the UAV to the bridge pier, one DoF is enough for the manipulator implemented on the UAV. A preliminary experiment shows that the force is proportional to the...
This paper presented a method for multiwalled carbon nanotube(MWCNT) and graphene fusion by applying current to the electric circuit system inside scanning electron microscopy (SEM). The MWCNT was picked up from CNT bulk and the graphene flake was exfoliated from graphite by nanorobotics manipulation system. The current was applied to the two ends of carbon nanotube and graphene. The C-C bonds at...
We studied bending of multilayered graphene into 3D structure. In this paper, we proposed a nanogripper folded by multilayered graphene as one of the 3D device. The nanogripper is actuated by electro static forces to open and close. The multilayered graphene was fabricated by focused ion beam (FIB) to form nano-gripper design. Reversible action is realized by controlled two different electrodes. In...
Rotation manipulation of Caenorhabditis elegans (C. elegans) is presented for higher precision by a microchannel. The C. elegans was trapped within a biocompatible gel bead to rotate by a rotational motor. An alginate was used to form the gel bead. Without immobilization treatment by a sodium azide, the C. elegans moves during solidification of alginate. Then, a cavity was happened in the alginate...
Field-effect transistors (FETs) have been developed from silicon based to carbon nanotubes (CNTs) based, and the fabrication space became three-dimensionl (3D). Such fabrication process requires to accurately assemble a single CNT in 3D. However, most of the current assembly technologies were used for planar structures but not for 3D structures. In this study, we aim to use nanomanipulation based...
Artificial cell sheet is utilized as a useful method for tissue engineering. We proposed a novel approach to fabricate the Ca-alginate gel sheet embedded liver cells to mimic the liver lobule tissue. Ca-alginate sheet with hepatic lobule shaped pattern was firstly deposited on a micro-electrode device based on the electrodeposition method. Viability of embedded cells was checked to be maintained more...
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...
Helical structure assembled by hydrogel microfibers is significant for culture of smooth muscle cells. However, the helical structure is only fabricated at the macroscale, while the fabrication of helical microstructure is still a challenge due to the lack of assembly method. In this paper, we propose a robotics-based assembly method to handle such challenge. An electromagnetic needle (EMN) is employed...
This study presents the high-precision microinjection of fluorescent micro-gel beads into Caenorhabditis elegans trapped in a suction microchannel. In our previous works, we demonstrated survival microinjection by a conventional micromanipulation technique. However, the focal planes differed between the tip of the microinjection tool and the target axon inside the C. elegans body. To resolve this...
This paper presented a method for multiwalled carbon nanotubes (MWCNTs) fusion induced by electron beam irradiation inside scanning electron microscopy (SEM). The MWCNT was picked up from CNT bulk by nanorobotics manipulation system. The electron beam irradiation was introduced at the joint of two free end of MWCNTs. C-C bonds at the ends of CNTs were fused together. The method of this paper presented...
Motivated by the demand of detecting surroundings for a humanoid robot, we developed an omnidirectional vision system for robot perception (OVROP) with 5 Degrees of Freedom (DOFs). OVROP is mainly composed by three components: hardware, control architecture and image processing. Endowed with compatible hardware and software interfaces, OVROP can be applied to a variety of robots. With the utilization...
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 this study, the internal structure of collagen scaffold is observed by a scanning electron microscope-computed tomography (SEM-CT) technique operated inside an environmental-scanning electron microscope (E-SEM). The E-SEM is able to use maintain the aqueous condition inside the sample by controlling the temperature and pressure. We demonstrated the SEM-CT observation of collagen scaffold by culturing...
Recently, there are many researches about bipedal locomotion by humanoid robots. However, the objective of running humanoid robot is not a lots. A modeling of high speed running motion is focused in this paper. Toward to modeling the motion, we focus on the rapid running robot (R3), which is high speed running robot, but has not been modeled. To analyze the motion and modeled it, we have developed...
Brain tumor is likely to be serious for human, and medical surgery simulator has been devised for training of their removal. In this study, we have focused on the soft brain tumor and propose the tumor model which is wrapped in thin membranes to the combination of water-absorbing polymers (main component: sodium polyacrylic acid salt) and viscous materials to be bonded by filling between them. This...
Is this study, to assist walking motion for elderly people and disabled people, robotics-based assist technologies are important. Toward to realize such technologies, we have developed cane-type walking assist robot. In the paper, we proposed user intuitive assist technique by using a grip sensor. The proposed technique is evaluated through a preliminary experiment.
UAV has great possibilities for rescue, observation, derivatively, infrastructure maintenance and so on. Generally, a GPS sensor is used as localization for UAV. However, if UAV is used to bridge maintenance, a GPS signal condition is not stable. Thus, an automated control of UAV is difficult under the bridge. To solve this problem, we propose vision-based localization technique for automated UAV...
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