Analysis of Manipulation Skill for Biological Objects and Its Application to Micro-Manipulation System

• Project/Area Number: 17076010
• Research Category: Grant-in-Aid for Scientific Research on Priority Areas
• Allocation Type: Single-year Grants
• Review Section: Science and Engineering
• Research Institution: Yamagata University (2007-2009); Osaka University (2005-2006)
• Principal Investigator: INOUE Kenji Yamagata University, 大学院・理工学研究科, 教授 (40203228)
• Co-Investigator(Kenkyū-buntansha): ARAI Tatsuo 大阪大学, 大学院・基礎工学研究科, 教授 (90301275) ; MAE Yasushi 大阪大学, 大学院・基礎工学研究科, 准教授 (50304027) ; TAKUBO Tomohito 大阪大学, 大学院・基礎工学研究科, 助教 (80397695) ; OHARA Kenichi 大阪大学, 大学院・基礎工学研究科, 助教 (50517886) ; TANIKAWA Tamio 独立行政法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (30357470) ; OHBA Kohtaro 独立行政法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (70221835) ; ICHIKAWA Akihiko 独立行政法人産業技術総合研究所, 知能システム研究部門, 契約職員 (20377823)
• Project Period (FY): 2005 – 2009
• Project Status: Completed (Fiscal Year 2009)
• Budget Amount: ¥86,900,000 (Direct Cost: ¥86,900,000); Fiscal Year 2009: ¥9,200,000 (Direct Cost: ¥9,200,000); Fiscal Year 2008: ¥19,600,000 (Direct Cost: ¥19,600,000); Fiscal Year 2007: ¥19,200,000 (Direct Cost: ¥19,200,000); Fiscal Year 2006: ¥19,600,000 (Direct Cost: ¥19,600,000); Fiscal Year 2005: ¥19,300,000 (Direct Cost: ¥19,300,000)
• Keywords: マイクロ・ナノデバイス / バイオ関連機器 / 知能ロボティックス / 細胞・組織 / マイクロハンド / マイクロマニピュレーション / 細胞操作 / マイクロマニプレーション / 細胞剛性計測 / 知能ロボティクス

Research Abstract

Development of two-fingered micro-hand for multi-scale micro-manipulation, measurement of cell stiffness using two-fingered micro-hand, system design for micro-hand with user-friendly interface, development of micro-actuation mechanisms using thin plate hinges, and development of micro-hand with two rotational fingers.

Research Products

• [Journal Article] Developmental Process of a Chopstick-Like Hybrid-Structure Two- Fingered Micro-manipulator Hand for 3-D Manipulation of Microscopic Objects, IEEE Trans (2009)
  • Author(s): Ahmed A. Ramadan, Tomohito Takubo, Yasushi Mae, Kenichi Oohara, Tatsuo Arai
  • Journal Title: on Industrial Electronics Vol.56,No.4 Pages: 1121-1135
  • Peer Reviewed
• [Journal Article] Developmental Process of a Chopstick-Like Hybrid-Structure Two-Fingered Micromanipulator Hand for 3-D Manipulation of Microscopic Objects (2009)
  • Author(s): Ahmed A.Ramadan, Tomohito Takubo, Yasushi Mae, Kenichi Oohara, Tatsuo Arai
  • Journal Title: IEEE Transaction on Industrial Electronics 56巻4号 Pages: 1121-1135
  • Peer Reviewed
• [Journal Article] New Architecture of a Hybrid Two-Fingered Micro-Nano Manipulator Hand: Optimization and Design (2008)
  • Author(s): Ahmed A. Ramadan, Kenji Inoue, Tatsuo Arai, Tomohito Takubo
  • Journal Title: Advanced Robotic Vol.22,No.2-3 Pages: 235-260
  • NAID: 10025775761
  • Peer Reviewed
• [Journal Article] Micro-Manipulation System with a Two-Fingered Micro-Hand and Its Potential Application in Bioscience (2008)
  • Author(s): Kenji Inoue, Tamio Tanikawa, Tatsuo Arai
  • Journal Title: J. of Biotechnology Vol.133 Pages: 219-224
  • Peer Reviewed
• [Journal Article] In-Situ Formation of a Gel Microbead for Laser Micromanipulation of Microorganisms, DNA, and Viruses (2007)
  • Author(s): Akihiko Ichikawa, Fumie Honda, Miho Ejima, Tamio Tanikawa, Fumihito Arai, Toshio Fukuda
  • Journal Title: J. of Robotics and Mechatronics Vol.19,No.5 Pages: 569-576
  • Peer Reviewed
• [Journal Article] Performance Evaluation of Teleoperation for Manipulating Micro Objects Using Two-Fingered Micro Hand (2007)
  • Author(s): Kenji Inoue, Daisuke Nishi, Tomohito Takubo, Tamio Tanikawa, Tatsuo Arai
  • Journal Title: J. of Robotics and Mechatronics Vol.19,No.5 Pages: 577-584
  • Peer Reviewed
• [Journal Article] Performance Evaluation of Teleoperation for Manipulating Micro Objects Using Two-Fingered Micro Hand (2007)
  • Author(s): Kenji, Inoue, Daisuke, Nishi, Tomohito, Takubo, Tamio, Tanikawa, Tatsuo, Arai
  • Journal Title: Journal of Robotics and Mechatronics 19,5 Pages: 577-584
  • Peer Reviewed
• [Journal Article] Calibration Method for Parallel Mechanism using Micro Grid Pattern (2006)
  • Author(s): Wataru Tanaka, Tatsuo Arai, Kenji Inoue, Tomohito Takubo
  • Journal Title: the 2006 IEEE International Conference on Robotics and Automation Pages: 763-768
  • NAID: 130000792145
• [Journal Article] Design Optimization of a Compact 3-DOF Parallel Micro/Nano Finger Manipulator (2006)
  • Author(s): Ahmed A, Ramadan, Kenji Inoue, Tatsuo Arai, Tomohito Takubo
  • Journal Title: Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pages: 778-783
• [Journal Article] Measurement of Mechanical Properties of Living Cells Using Micro Fingers and AFM Cantilevers (2006)
  • Author(s): Kenji Inoue, Daisuke Nishi, Tomohito Takubo, Tatsuo Arai
  • Journal Title: Proceedings of the 2006 International Symposium on Micro-NanoMechatronics and Human Science (MHS2006) Pages: 205-210
• [Journal Article] Measurement of the Mechanical Properties of Living Cell Using Micro Hand and Developed AFM System (2005)
  • Author(s): Daisuke NISHI, et al.
  • Journal Title: Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems Pages: 1184-1189
• [Journal Article] Dexterous Micromanipulation Supporting Cell and Tissue Engineering (2005)
  • Author(s): Kenji Inoue, et al.
  • Journal Title: Proceedings of the 2005 International Symposium on Micro-NanoMechatronics and Human Science Pages: 197-202
• [Presentation] Kohtaro Ohba, Micro-Manipulator Using Laminate Hinge Mechanism (2009)
  • Author(s): Akihiko Ichikawa, Tamio Tanikawa
  • Organizer: 2009 Int. Symp. on Micro-NanoMechatronics and Human Science
  • Place of Presentation: Nagoya, Japan.
  • Year and Date: 2009-11-09
• [Presentation] A New Multi-Scale Micromanipulation System with Dexterous Motion (2009)
  • Author(s): Ebubekir Avci, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai
  • Organizer: 2009 Int. Symp. on Micro-NanoMechatronics and Human Science
  • Place of Presentation: Japan
  • Year and Date: 2009-11-09
• [Presentation] Manipulation of Micro-Scale Objects Using Micro Hand with Two Rotational Fingers (2009)
  • Author(s): Yuki Matsuzaki, Kenji Inoue, Suwoong Lee
  • Organizer: 2009 Int. Symp. on Micro-NanoMechatronics and Human Science
  • Place of Presentation: Nagoya Japan.
  • Year and Date: 2009-11-09
• [Presentation] User Friendly Two- Fingered Cell Manipulation System (2009)
  • Author(s): Daiki Kawakami, Kenichi Ohara, Yasushi Mae, Tomohito Takubo, Tamio Tanikawa, Tatsuo Arai
  • Organizer: 2009 Int. Symp. on Micro- NanoMechatronics and Human Science
  • Place of Presentation: Nagoya, Japan
  • Year and Date: 2009-11-09
• [Presentation] User Friendly Two-Fingered Cell Manipulation System (2009)
  • Author(s): 川上大貴, 大原賢一, 前泰志, 田窪朋仁, 谷川民生, 新井健生
  • Organizer: The 2009 International Symposium on Micro-Nano Mechatronics and Human Science
  • Place of Presentation: 名古屋大学(愛知県)
  • Year and Date: 2009-11-08
• [Presentation] Manipulation of Micro-Scale Objects Using Micro Hand with Two Rotational Fingers (2009)
  • Author(s): 松崎由紀, 井上健司, 李秀雄
  • Organizer: The 2009 International Symposium on Micro-Nano Mechatronics and Human Science
  • Place of Presentation: 名古屋大学(愛知県)
  • Year and Date: 2009-11-08
• [Presentation] A New Multi-Scale Micromanipulation System with Dexterous Motion (2009)
  • Author(s): Ebubekir Avci, Kenichi Ohara, Tomohito Takubo, Yasushi Mae, Tatsuo Arai
  • Organizer: The 2009 International Symposium on Micro-Nano Mechatronics and Human Science
  • Place of Presentation: 名古屋大学(愛知県)
  • Year and Date: 2009-11-08
• [Presentation] Micro-Manipulator Using Laminate Hinge Mechanism (2009)
  • Author(s): 市川明彦, 谷川民生, 大場光太郎
  • Organizer: The 2009 International Symposium on Micro-Nano Mechatronics and Human Science
  • Place of Presentation: 名古屋大学(愛知県)
  • Year and Date: 2009-11-08
• [Presentation] Automated Initial Setup Method for Two-Fingered Micro Hand System (2009)
  • Author(s): Izumi Hatta, Kenichi Ohara, Tatsuo Arai, Yasushi Mae, Tomohito Takubo
  • Organizer: 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems
  • Place of Presentation: St. Louis, U.S.A.
  • Year and Date: 2009-10-11
• [Presentation] Automated Initial Setup Method for Two-Fingered Micro Hand System (2009)
  • Author(s): Izumi Hatta, Kenichi Ohara, Tatsuo Arai, Yasushi Mae, Tomohito Takubo
  • Organizer: The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: セントルイス(米国)
  • Year and Date: 2009-10-11
• [Presentation] 回転2本指マイクロハンドを用いた微小物体の回転操作実験 (2009)
  • Author(s): 松崎由紀, 李秀雄, 井上健司
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 横浜国立大学(神奈川県)
  • Year and Date: 2009-09-15
• [Presentation] 細胞操作システムの可換性と拡張性の向上 (2009)
  • Author(s): 川上大貴, 大原賢一, 田窪朋仁, 前泰志, 新井健生, 谷川民生
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 横浜国立大学(神奈川県)
  • Year and Date: 2009-09-15
• [Presentation] デスクトップマイクロハンドの開発 (2009)
  • Author(s): 市川明彦, 谷川民生, 大場光太郎
  • Organizer: 第27回日本ロボット学会学術講演会
  • Place of Presentation: 横浜国立大学(神奈川県)
  • Year and Date: 2009-09-15
• [Presentation] 2本指マイクロハンドにおける先端位置合わせ自動化手法の開発 (2009)
  • Author(s): 大原賢一, 初田和泉, 新井健生, 前泰志, 田窪朋仁
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2009
  • Place of Presentation: 福岡国際会議場(福岡県)
  • Year and Date: 2009-05-24
• [Presentation] 2本指マイクロハンドシステムにおける自動セットアップ技術の開発 (2008)
  • Author(s): 初田和泉
  • Organizer: 第9回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 日本(岐阜)
  • Year and Date: 2008-12-06
• [Presentation] RTミドルウェアを用いた拡張性のあるマイクロマニピュレーションシステムの構築 (2008)
  • Author(s): 大原賢一
  • Organizer: 第9回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 日本(岐阜)
  • Year and Date: 2008-12-06
• [Presentation] Solution of Inverse and Forward Kinematics Problems for 3-PRS Parallel Micro Finger (2008)
  • Author(s): Ahmed A. Ramadan
  • Organizer: 第9回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 日本(岐阜)
  • Year and Date: 2008-12-06
• [Presentation] Micro Hand with Two Rotational Fingers and Manipulation of Small Objects by Teleoperation (2008)
  • Author(s): Kenji Inoue, Tamio Tanikawa, Tatsuo Arai
  • Organizer: 2008 Int. Symp. on Micro-NanoMehatronics and Human Science
  • Place of Presentation: Nagoya, Japan.
  • Year and Date: 2008-11-08
• [Presentation] Optimization of a Hybrid Two-Fingered Micro Hand Using Genetic Algorithms (2008)
  • Author(s): Ahmed A. Ramadan, Tatsuo Arai, Tomohito Takubo, Kenji Inoue
  • Organizer: 2008 Int. Symp. on Micro- NanoMehatronics and Human Science
  • Place of Presentation: Nagoya, Japan.
  • Year and Date: 2008-11-08
• [Presentation] Cell Analysis System Using Two-fingered Micro Hand -Fine Adjustment Mechanism for Endeffector- (2008)
  • Author(s): Izumi Hatta, Kenichi Ohara, Tatsuo Arai, Yasushi Mae, Tomohito Takubo, Kenji Inoue
  • Organizer: 2008 Int. Symp. on Micro- NanoMehatronics and Human Science
  • Place of Presentation: Nagoya, Japan
  • Year and Date: 2008-11-08
• [Presentation] Micro Hand with Two Rotational Fingers and Manipulation of Small Obiects by Teleoneration (2008)
  • Author(s): Kenji Inoue
  • Organizer: 2008 International Symposium on Micro-NanoMec hatronics and Human Science
  • Place of Presentation: 日本(名古屋)
  • Year and Date: 2008-11-06
• [Presentation] Optimization of a Hybrid Two-Fingered Micro Hand Using Genetic Algorithms (2008)
  • Author(s): Ahmed A. Ramadan
  • Organizer: 2008 International Symposium on Micro-NanoMec hatronics and Human Science
  • Place of Presentation: 日本(名古屋)
  • Year and Date: 2008-11-06
• [Presentation] Cell Analysis System Using Two-fingered Micro Hand-Fine adjustment mechanism for end-effector- (2008)
  • Author(s): Izumi Hatta
  • Organizer: 2008 International Symposium on Micro-NanoMec hatronics and Human Science
  • Place of Presentation: 日本(名古屋)
  • Year and Date: 2008-11-06
• [Presentation] PDMSを用いた小型アクチュエータの開発 (2008)
  • Author(s): 川上大貴
  • Organizer: 第26回日本ロボット学会学術講演会
  • Place of Presentation: 日本(神戸)
  • Year and Date: 2008-09-11
• [Presentation] An Inverse Kinematics Solution for 3-PRS Parallel Micro Finger Module Based on End Effector Tin Position (2008)
  • Author(s): Ahmed. A. Ramadan
  • Organizer: 第26回日本ロボット学会学術講演会
  • Place of Presentation: 日本(神戸)
  • Year and Date: 2008-09-09
• [Presentation] 回転2本指マイクロハンドによる微小物体の操作法 (2008)
  • Author(s): 井上健司
  • Organizer: 第26回日本ロボット学会学術講演会
  • Place of Presentation: 日本(神戸)
  • Year and Date: 2008-09-09
• [Presentation] マイクロマニピュレータの開発〜薄板ヒンジ機構を用いた3自由度駆動機構並びに積層ピエゾ拡大機構の開発〜 (2008)
  • Author(s): 市川明彦
  • Organizer: 第26回日本ロボット学会学術講演会
  • Place of Presentation: 日本(神戸)
  • Year and Date: 2008-09-09
• [Presentation] Chopstick-like Two-Fingered Micromanipulator Hybrid Hand (2008)
  • Author(s): Ahmed. A. Ramadan, Kenji Inoue, Tatsuo Arai, Tomohito Takubo
  • Organizer: 2008 Int. Symp. on Flexible Automation
  • Place of Presentation: Atlanta, U.S.A.
  • Year and Date: 2008-06-23
• [Presentation] Micro-Nano Two-Fingered Hybrid Manipulator Hand (2007)
  • Author(s): Ahmed, Ramadan, Kenji, Inoue, Tatsuo, Arai, Tomohito, Takubo, Izumi, Hatta
  • Organizer: 2007 IEEE International Symposium on Micro-NanoMehatronics and Human Science
  • Place of Presentation: 日本
  • Year and Date: 2007-11-11
• [Presentation] マイクロハンドを用いた細胞評価システムエンドエフェクタの微調整機構 (2007)
  • Author(s): 初田和泉・新井健生・田窪朋仁・井上健司
  • Organizer: 第25回日本ロボット学会学術講演会
  • Place of Presentation: 日本
  • Year and Date: 2007-09-13
• [Presentation] New Hybrid Two-Fingered Micro-Nano Manipulator Hand: Optimization and Design (2007)
  • Author(s): Ahmed A. Ramadan, Kenji Inoue, Tatsuo Arai, Tomohito Takubo
  • Organizer: 2007 IEEE Int. Conf. on Mechatronics and Automation
  • Place of Presentation: arbin, China.
  • Year and Date: 2007-08-07
• [Presentation] New Hybrid Two Fingered Micro-Nano Manipulator Hand:Optimization (2007)
  • Author(s): Ahmed, Ramadan, Kenji, Inoue, Tatsuo, Arai, Tomohito, Takubo
  • Organizer: 2007 IEEE International Conference on Mechatronics and Automation
  • Place of Presentation: 中国
  • Year and Date: 2007-08-05
• [Presentation] マイクロハンドを用いた細胞評価システム-基本システムの構築とユーザインタフェース- (2007)
  • Author(s): 初田和泉・新井健生・井上健司・國松禎明・田窪朋仁
  • Organizer: ロボティクス・メカトロニクス講演会'07
  • Place of Presentation: 日本
  • Year and Date: 2007-05-10
• [Book] 第v編細胞の加工/第9章卵細胞の除核操作, 細胞分離・操作技術の最前線 (2008)
  • Author(s): 谷川民生, 市川明彦
  • Publisher: 株式会社シーエムシー出版
• [Patent(Industrial Property Rights)] 平面集積駆動機構 (2007)
  • Inventor(s): 谷川民生, 友國伸保, 冨沢哲雄, 大原賢一, 市川明彦, 大場光太郎
  • Industrial Property Rights Holder: 独立行政法人産業技術総合研究所
  • Industrial Property Number: 2007-153056
  • Filing Date: 2007-06-08