相关论文: Auxiliary Optomechanical Tools for 3D Cell Manipul…

This paper presents the technique of flex-and-flip manipulation. It is suitable for grasping thin, flexible linear objects lying on a flat surface. During the manipulation process, the object is first flexed by a robotic gripper whose…

The acquisition of multi-view information of cells is essential for accurate 3D reconstruction of their structures. Rotational manipulation of cells has emerged as an effective technique for obtaining such data. However, most reported…

Holographic techniques significantly extend the capabilities of laser tweezing, making possible extended trapping patterns for manipulating large numbers of particles and volumes of soft matter. We describe practical methods for creating…

Size-based separation of bioparticles/cells is crucial to a variety of biomedical processing steps for applications such as exosomes and DNA isolation. Design and improvement of such microfluidic devices is a challenge to best answer the…

Manipulation of deformable linear objects (DLOs) in constrained environments is a challenging task. This paper describes a two-layered approach for placing DLOs on a flat surface using a single robot hand. The high-level layer is a novel…

Holographic acoustical tweezers (HAT) based on Archimedes-Fermat spiraling InterDigitated Transducers (S-IDTs) are a versatile tool for the selective manipulation of microparticles [Baudoin et. al., Sci. Adv., 5: eaav1967 (2019)] and cells…

Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…

Manipulating particles, such as cells and tissues, in a flowing liquid environment is crucial for life science research. Traditional contactless tweezers, although widely used for single-cell manipulation, face several challenges. These…

Cells control fluid flows with a spatial and temporal precision that far exceeds the capabilities of current microfluidic technologies. Cells achieve this superior spatio-temporal control by harnessing dynamic networks of cytoskeleton and…

Traditional optical tweezers techniques often rely on high-power continuous wave (CW) lasers, which can introduce unwanted thermal effects and photodamage to delicate samples. To overcome these limitations, we demonstrate femtosecond laser…

Deformable linear object (DLO) manipulation is needed in many fields. Previous research on deformable linear object (DLO) manipulation has primarily involved parallel jaw gripper manipulation with fixed grasping positions. However, the…

Many people with motor disabilities are unable to complete activities of daily living (ADLs) without assistance. This paper describes a complete robotic system developed to provide mobile grasping assistance for ADLs. The system is…

Major biological discoveries have been made by interrogating living organisms with light. However, the limited penetration of unscattered photons within biological tissues severely limits the depth range covered by optical methods.…

Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in…

The ability to wield tools was once considered exclusive to human intelligence, but it's now known that many other animals, like crows, possess this capability. Yet, robotic systems still fall short of matching biological dexterity. In this…

Autonomous manipulation of articulated objects remains a fundamental challenge for robots in human environments. Vision-based methods can infer hidden kinematics but can yield imprecise estimates on unfamiliar objects. Tactile approaches…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

Object manipulation is a fundamental challenge in robotics, where systems must balance trade-offs among manipulation capabilities, system complexity, and throughput. Distributed manipulator systems (DMS) use the coordinated motion of…

Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…

The quintessential hallmark distinguishing metasurfaces from traditional optical components is the engineering of subwavelength meta-atoms to manipulate light at will. Enabling this freedom, in a reverse manner, to control objects…