Interactive Microrobotics
novel scientific instruments for biology
Sinan Haliyo, head of MULTI-SCALE INTERACTIONS @ ISIR
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ISIR - Sorbonne Université
L'Institut des Systèmes Intelligents et de Robotique
Paris, France
ISIR - Sorbonne Université
L'Institut des Systèmes Intelligents et de Robotique
Permanent Staff:
- 41 professors
- 16 researchers
- 10 Administrative + technical staff
Non permanent staff, typically:
- 120 PhD students
- 20 postdocs, engineers, support staff
- 10 affiliated members (emeritus, visitors, etc.)
- 70 interns, yearly
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Multi-Scale Interactions Lab
![](https://www.isir.upmc.fr/wp-content/uploads/2021/02/Mokrane_Boudaoud-220x300.jpg)
Mokrane Boudaoud
David Gueorguiev
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Sinan Haliyo
Vincent Hayward
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Stéphane Régnier
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Gilles Bailly
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Edison Gerena
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Baptiste Caramiaux
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Julien Gori
8 permanent researchers + 15 PhD students + 4 Post-Doc/Ing/others
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Robotic tools
for microscale
Effectors, grippers, probes,
actuators, sensors
Human—Machine Interfaces
Observation & Interaction
Usability, adaptation, skill acquisition
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Micromanipulation in prehistory
Haliyo et al, Adhesion based dynamic micro-manipulation. European Journal of Mechanics - 2003
Xie, Haliyo, Regnier. Parallel imaging/manipulation force microscopy. Applied Physics Letters, 2009
How to improve user implication for better task efficiency ?
Leverage human sensorimotor skill in the control loop
Force-feedback teleoperation
Teleoperated micromanipulation
Venture et al Force-feedback micromanipulation with unconditionally stable coupling.IEEE/RSJ IROS 2005
Bolopion et al. Tuning the gains of haptic coupling in nanorobotics. 2009 IEEE ICRA, 2009
Haptic Microscopy
High Fidelity Force-sensing
Transparent haptic rendering
Extending the sense of touch to the microscale
Abdenbi
OUSAID
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- Direct 1 dof sensing
- Closed loop active control
- Electrostatic actuation
- Contactless
- Linear behavior
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Ousaid et al, IEEE Systems and Control, 2013
High-Fidelity Haptics
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Nil mass
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Infinite Stiffness
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Hybrid actuation profiles
Eliminate the inertia
Increase the torque
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Ousaid et al, IEEE Transactions on Mechatronics, 2015
Ousaid et al, PloS one 2014
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Linear upscaling of interaction forces x10000
Ousaid et al, IEEE Robotics and Automation Letters, 2019
Haptic feedback facilitates injection
In-vitro manipulation of biologic samples / single-cell
Experimental biology
Applications
- Biochemical & biophysics research
- Clinical studies
- Pharmaceutical evaluation of
- Transgenetics, stem cells
- In-vitro fertilization
- Cellular diagnostic, toxicity analysis...
Required functions
- Transport: translate / rotate
- Interacting cells / bacteria / tumors...
- Mechanical, electrical, chemical characterizations
- Injection & Extraction
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In-vitro manipulation of biologic samples
Mechanical manipulators and pipettes
- Pipette and injector holders
- Linear stages in serial configuration
- Mechanical action through direct contact
- Open chambers / petri dishes
Global Market on micromanipulation for bio
hospitals, clinics & research labs
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Mechanical manipulators and pipettes
Weakness of current solutions
Lack of skilled labor & Low evolution of tools in last 40 years
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Rudimentary interfaces
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Technical expertise and manual dexterity
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High training cost of lab technicians
Techniques poorly adapted to new needs:
- Full containment and environmental control
- Lab-on-chip, microfluidic chips
- Accurate access to an isolated specimen / single cell
- Data collection
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Robotic Optical Tweezers
- A tightly focused laser beam to trap micro objects (1 - 5 µm)
- Non-contact multi object manipulation in liquid
- Laser wavelength : 1070nm
- Laser power: 400mW
3D force measurement :
- Position tracking with an Event-Camera
- ~ 10 pn resolution, 300 pN max
- 300 Hz / 1 kHz bandwidth
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Edison
GERENA
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3D motion and sensing
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The "robot" is the laser path actuated with active Optical components and 3DoF sample-holder
Multitrap OPTOBOTS
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Gerena et al, IEEE Robotics and Automation Letters, 2019
Force-sensing Optobot
Deep Learning for tracking and force sensing
Ferhat SADAK
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Haptic feedback improves trajectory precision and task duration
Gerena et al, Micromachines 2019
Your Hand
in the microscale
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In-liquid assembly
T-cell / Cancer
interaction forces
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Nicolas INACIO
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Mecanobiology on gametes
An interactive scientific instrument
Robotic assistance for biologists
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Decrease training cost and duration
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Decrease task duration
Modern analysis tools for clinical research
- 6D single-cell Manipulation in-vitro, in incubator
- Decrease the pollution and variability of experimental conditions
- Database Generation ↦ IA and ML tools for analysis
An interactive scientific instrument
Opportunities
Open positions for
PhD, Post-Doc, Research Engineer
(French is not required !)
sinan.haliyo@sorbonne-universite.fr
MARSS23
By Sinan Haliyo
MARSS23
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