Study of Speed and Force in Biomanipulation

Abstract

Enhancing the capability of biomanipulation systems has become a pressing need for advancing the fields of biology and biomedicine. This is particularly motivated by the recent rapid development in the area of mechanobiology, which studies the comprehensive effect of mechanical stimuli on cellular behaviour. The first part of this thesis addresses the design of speed trajectories in a microinjection process, which is a common biomanipulation task, in order to minimize adverse physical effects on the biological organism induced by the injection force. Both simulations and experiments are conducted to demonstrate the effectiveness of the proposed solution. The second part of this study is devoted to force control of biomanipulation systems. A six-strut cellular tensegrity model constructed based on the structural approach is used for the development of advanced force control techniques. The work reported represents an initial step in analytical investigation of localized force-bearing interactions between a cellular tensegrity model and an external mechanical manipulator.