Haptic Feedback Based on Physically Based Modeling for Cellular Manipulation Systems

Authors:
Jungsik Kim;Farrokh Janabi-Sharifi;Jung Kim
Affiliations:
Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Korea;Dept. of Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada;Dept. of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Korea
Venue:
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Year:
2008

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Abstract

This paper focuses on developing a haptic rendering technique for cellular manipulation using image processing techniques and physically based models. The interaction forces between a micropipette and cellular tissues are predicted based on biomechanical models of cells, which consist of a boundary element model and a prior knowledge of the cell's mechanical properties. These models are used to allow users to feel amplified reaction forces during cell injection tasks through a haptic device in real time. The experimental system, equipped with a micro-injection system and a commercial haptic display, was developed and tested using zebrafish embryos. The proposed haptic rendering algorithm could be used to improve success rates of cellular manipulation tasks.