3D Micromanipulation and Measurement using a Multi-Finger Hand Dual-Arm Optical Manipulator

2023 Fiscal Year Final Research Report

• Project/Area Number: 19K04319
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Kagawa University (2020-2023); National Institute of Advanced Industrial Science and Technology (2019)
• Principal Investigator: TANAKA Yoshio 香川大学, 創造工学部, 客員研究員 (30357454)
• Co-Investigator(Kenkyū-buntansha): 藤本 憲市 香川大学, 創造工学部, 教授 (20300626)
• Project Period (FY): 2019-04-01 – 2024-03-31
• Keywords: 光ピンセット / マイクロマニピュレーション / 知能機械 / マイクロ・ナノデバイス / 画像処理

Outline of Final Research Achievements

In this research, we have developed the precise correction method of various nonlinear distortions in the observation and control systems for the dual-arm optical tweezers system that consists of two sets of 3D scanning optical tweezers with an electrically focus tunable lens and two-axis scanning mirror, and have established the design method for a high-precision dual-arm 3D optical tweezers system. We have also proposed the concept of a visuo-haptic micromanipulation system that uses image processing technique to visually present the contact forces between a manipulated object and spherical end-effectors to the operator in real time during the bimanual cooperative micromanipulation, and have demonstrated its effectiveness by applying it to the cooperative micromanipulation of single non-spherical micro-object such as a diatom. The unique capabilities offered by the dual-arm visuo-haptic system will open up new possibilities in single cell and 3D biology.

Free Research Field

知能機械学

Academic Significance and Societal Importance of the Research Achievements

本研究で開発した光ピンセット光学系は，従来の多点光ピンセットでは実現の困難な安定かつ高精度な双腕型マイクロ操作のため基盤的システム設計法を提供するものである。安定した双腕操作においては，対象物の把持時の接触力の検出が重要であり，リアルタイムに接触反力を視覚的に提示しながら操作できる視触覚双腕光マニピュレータは，細胞の３次元精密操作が不可欠なライフサイエンス分野などにおける光ピンセットの有用性と優位性を高めるものである。また，本システムは，多様な分野における汎用非接触マイクロ操作ツールとして，より一層の学術的貢献も期待できる。