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Authors: Paolo Di Giamberardino 1 ; Maria Laura Aceto 1 ; Oliviero Giannini 2 and Matteo Verotti 2

Affiliations: 1 Dept. Computer, Control and Management Engineering Antonio Ruberti, Sapienza University of Rome and Italy ; 2 University Niccol Cusano, Via Don Carlo Gnocchi 3, Rome and Italy

Keyword(s): Micro Manipulation, Nano Scale Devices, Biological Samples Analysis, Visco-elastic Characteristic Measurement, Dynamic Parameters Estimation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mechatronics Systems ; Robotics and Automation ; Telerobotics and Teleoperation

Abstract: This paper focuses on the possibility of using a recently fabricated micro gripper for the on line estimation of the mechanical characteristics (damping and elasticity) of a sample pinched by the jaws, with particular reference to biological tissues. A classical on line dynamical parameter estimator is computed for the given system with different estimation computations, and its effectiveness has been verified by numerical simulations. Results confirm the feasibility of a micro-robotic clinical device for surgery use equipped with a tissue recognition ability.

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Paper citation in several formats:
Giamberardino, P.; Aceto, M.; Giannini, O. and Verotti, M. (2018). Dynamic Estimation of Visco-elastic Mechanical Characteristics of Biological Samples under Micro Manipulation. In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-321-6; ISSN 2184-2809, SciTePress, pages 503-510. DOI: 10.5220/0006914405030510

@conference{icinco18,
author={Paolo Di Giamberardino. and Maria Laura Aceto. and Oliviero Giannini. and Matteo Verotti.},
title={Dynamic Estimation of Visco-elastic Mechanical Characteristics of Biological Samples under Micro Manipulation},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2018},
pages={503-510},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006914405030510},
isbn={978-989-758-321-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Dynamic Estimation of Visco-elastic Mechanical Characteristics of Biological Samples under Micro Manipulation
SN - 978-989-758-321-6
IS - 2184-2809
AU - Giamberardino, P.
AU - Aceto, M.
AU - Giannini, O.
AU - Verotti, M.
PY - 2018
SP - 503
EP - 510
DO - 10.5220/0006914405030510
PB - SciTePress

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