A New Framework for Microrobotic Control of Motile Cells based on High-Speed 3-D Tracking and Galvanotaxis Control

• Hasegawa Takeshi

  Graduate School of Information Science and Technology, University of Tokyo

• Ogawa Naoko

  Graduate School of Information Science and Technology, University of Tokyo

• Oku Hiromasa

  Graduate School of Information Science and Technology, University of Tokyo

• Ishikawa Masatoshi

  Graduate School of Information Science and Technology, University of Tokyo

Bibliographic Information

Other Title

• 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の提案
• 3ジゲン クウカンナイ ニ オケル ビセイブツ ノ マイクロロボット オウヨウ ニ ムケタ セイギョ フレームワーク ノ テイアン

Abstract

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.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 26 (6), 575-582, 2008

  The Robotics Society of Japan

Keywords

• Microorganism
• Microrobot
• Motion Control
• Galvanotaxis
• High-speed Tracking

Details

• CRID: 1390001204724975232
• NII Article ID: 10024269424
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.26.575
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 9649058
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I9649058
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed