Title :
Haptic Rendering of Biological Elastic Properties based on Biomechanical Characterization
Author :
Boukallel, Mehdi ; Girot, Maxime ; Regnier, Stephane
Author_Institution :
Lab. de Robotique de Paris, Univ. Pierre et Marie Curie, Paris
Abstract :
This paper deals with the design of a micro-force sensing device for biomechanical characterization of biological samples. This device combines (SPM) techniques and advanced robotics approaches and allows to carry out in vitro prolonged observations as well as biomechanical characterization experiments. Elastic properties of biological samples are reflected to the macroscale during the mechanical characterization process by means of a haptic sensing device. Non-linear elasticity theory formalism is used in order to achieve realistic elastic rendering. Mechanical characterization experiments are conducted on human tumoral Epithilial Hella cells in order to demonstrate the efficiency and viability of the proposed system
Keywords :
biology computing; biomechanics; cellular biophysics; elasticity; force sensors; haptic interfaces; microsensors; scanning probe microscopy; biological elastic properties; biomechanical characterization; haptic rendering; human tumoral Epithilial Hella cells; micro-force sensing device; nonlinear elasticity theory; scanning probe microscopy; Cells (biology); Elasticity; Electrochemical machining; Haptic interfaces; Humans; In vitro; Intelligent robots; Mechanical factors; Robot sensing systems; Scanning probe microscopy;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0259-X
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281774
