Name
Abstract | ||
|---|---|---|
This paper presents a computer vision algorithm for visually detecting the contact between an end-effector and a target surface under an optical microscope. Without using additional sensors (e.g., proximity or force/touch sensors), this algorithm provides robustness and a sub-micrometer detection resolution. Fundamentally, after the establishment or a contact in the world frame, further vertical motion induces horizontal motion in the image plane. An analysis is presented to elaborate this fundamental mechanism. Experimental results demonstrate that this coniputer-vision-based method is capable of achieving contact detection between a inicropipette and a glass slide surface with a resolution of 0.2 mu m. Furthermore, 1300 experimental trials reveal that the presented algorithan is robust to variations in illumination intensitY, nucroscopy magnification, and microrobot motion speed. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/IEMBS.2006.260806 | 2006 28TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-15 |
Keywords | DocType | Volume |
computer vision,end effectors,end effector,micropipette,optical microscopy,optical microscope,image plane | Conference | 1 |
ISSN | Citations | PageRank |
1557-170X | 1 | 0.40 |
References | Authors | |
3 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wenhui Wang | 1 | 92 | 19.23 |
| Xinyu Liu | 2 | 145 | 22.92 |
| Yu Sun | 3 | 418 | 69.89 |