Stiffness characterization of biological tissues by means of MEMS-technology based micro grippers under position control

Alvise Bagolini, Pierluigi Bellutti, Paolo Di Giamberardino, I. Rudas, Vito D’Andrea, Matteo Verotti, Alden Dochshanov, Nicola P. Belfiore

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper presents a method for detecting the mechanical stiffness of micro-metric biological tissues by means of compliance tests performed with a MEMS-Technology based microgripper. Thanks to an actuating rotary comb drive working in cooperation with another sensing rotary comb drive, the system is able to recognize the tissue sample stiffness. Such characterization is possible thanks to a proper control system that is applied to the whole mechanical structure.

Original languageEnglish
Title of host publicationAdvances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017
PublisherSpringer Netherlands
Pages939-947
Number of pages9
ISBN (Print)9783319612751
DOIs
Publication statusPublished - Jan 1 2018
Event26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 - Turin, Italy
Duration: Jun 21 2017Jun 23 2017

Publication series

NameMechanisms and Machine Science
Volume49
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Other

Other26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017
CountryItaly
CityTurin
Period6/21/176/23/17

Fingerprint

Grippers
Position control
MEMS
Stiffness
Tissue
Acceptance tests
Control systems

Keywords

  • MEMS
  • Micrgropper
  • Position control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

Cite this

Bagolini, A., Bellutti, P., Di Giamberardino, P., Rudas, I., D’Andrea, V., Verotti, M., ... Belfiore, N. P. (2018). Stiffness characterization of biological tissues by means of MEMS-technology based micro grippers under position control. In Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 (pp. 939-947). (Mechanisms and Machine Science; Vol. 49). Springer Netherlands. https://doi.org/10.1007/978-3-319-61276-8_100

Stiffness characterization of biological tissues by means of MEMS-technology based micro grippers under position control. / Bagolini, Alvise; Bellutti, Pierluigi; Di Giamberardino, Paolo; Rudas, I.; D’Andrea, Vito; Verotti, Matteo; Dochshanov, Alden; Belfiore, Nicola P.

Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. Springer Netherlands, 2018. p. 939-947 (Mechanisms and Machine Science; Vol. 49).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bagolini, A, Bellutti, P, Di Giamberardino, P, Rudas, I, D’Andrea, V, Verotti, M, Dochshanov, A & Belfiore, NP 2018, Stiffness characterization of biological tissues by means of MEMS-technology based micro grippers under position control. in Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. Mechanisms and Machine Science, vol. 49, Springer Netherlands, pp. 939-947, 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, Turin, Italy, 6/21/17. https://doi.org/10.1007/978-3-319-61276-8_100
Bagolini A, Bellutti P, Di Giamberardino P, Rudas I, D’Andrea V, Verotti M et al. Stiffness characterization of biological tissues by means of MEMS-technology based micro grippers under position control. In Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. Springer Netherlands. 2018. p. 939-947. (Mechanisms and Machine Science). https://doi.org/10.1007/978-3-319-61276-8_100
Bagolini, Alvise ; Bellutti, Pierluigi ; Di Giamberardino, Paolo ; Rudas, I. ; D’Andrea, Vito ; Verotti, Matteo ; Dochshanov, Alden ; Belfiore, Nicola P. / Stiffness characterization of biological tissues by means of MEMS-technology based micro grippers under position control. Advances in Service and Industrial Robotics - Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. Springer Netherlands, 2018. pp. 939-947 (Mechanisms and Machine Science).
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