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Evaluation of Telerobotic Shared Control for Efficient Manipulation of Single Cells in Microinjection

Jungsik Kim 1 Dongjune Chang 1 Hamid Ladjal 2, 3 David Folio 3, * Antoine Ferreira 3 Jung Kim 1
* Corresponding author
2 SAARA - Simulation, Analyse et Animation pour la Réalité Augmentée
LIRIS - Laboratoire d'InfoRmatique en Image et Systèmes d'information
3 IRAUS
PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
Abstract : Microinjection is the highly efficient delivery method of exogenousmaterials into cells, and it has been widely used in biomedical researchareas such as transgenics and genomics. However, this direct injectiontask is time consuming and laborious, resulting in low throughputand poor reproducibility. This paper describes a telerobotic sharedcontrol (TSC) framework for the microinjection with high manipulationefficiencies, in which a micromanipulator is controlled by the sharedmotion commands of both the human operator (direct manipulation)and the autonomous controller. To determine the optimal gains betweenthe operator and the controller, we proposed a quantitative evaluationmethod using Fitts' and steering laws. The results showed that a40%−60% weighting on the human operator produced better performancefor both speed and accuracy of task completion, and suggested thatsome level of automation or human involvement is important for microinjectiontasks.
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https://hal.archives-ouvertes.fr/hal-00624922
Contributor : David Folio <>
Submitted on : Tuesday, September 20, 2011 - 11:38:33 AM
Last modification on : Wednesday, November 20, 2019 - 2:53:40 AM
Document(s) archivé(s) le : Wednesday, December 21, 2011 - 2:21:56 AM

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Jungsik Kim, Dongjune Chang, Hamid Ladjal, David Folio, Antoine Ferreira, et al.. Evaluation of Telerobotic Shared Control for Efficient Manipulation of Single Cells in Microinjection. IEEE International Conference on Robotics and Automation (ICRA'2011), May 2011, Shanghai, China. pp.3382-3387, ⟨10.1109/ICRA.2011.5979868⟩. ⟨hal-00624922⟩

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