三次元空間内における微生物のマイクロロボット応用に向けた制御フレームワークの提案 A New Framework for Microrobotic Control of Motile Cells based on High-Speed 3-D Tracking and Galvanotaxis Control

We propose a new framework for visual control of motile cells in three-dimensional (3-D) space. Our goal is to utilize microorganisms as micro-robots in various applications. This requires two elements; noncontact and noninvasive actuation, and precise measurement in 3-D space. In our framework, galvanotaxis (locomotor response to electrical stimulus) is used to actuate and 3-D tracking of swimming cells is used to measure. Experimental results for closed-loop motion control of Paramecium cells in the 3-D space demonstrate the effectiveness of proposed framework and the possibility of using microorganisms as micromachines.