Open AccessPenetration-force estimation approach for a flexure-jointed micro-injection mechanism with Lorentz force actuation
Author(s) -
Alka Sawale Sreekanth Sura Sreekanth Sura,
Pongsiri Kuresangsai,
Matthew O. T. Cole,
Theeraphong Wongratanaphisan,
Pinyo Puangmali
Publication year - 2021
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/1137/1/012058
Subject(s) - lorentz force , stiffness , control theory (sociology) , mechanism (biology) , observer (physics) , contact force , displacement (psychology) , force field (fiction) , force dynamics , load cell , penetration (warfare) , computer science , physics , acoustics , engineering , mechanical engineering , structural engineering , classical mechanics , magnetic field , artificial intelligence , psychotherapist , psychology , control (management) , quantum mechanics , operations research
This paper presents a novel linear-motion compliant mechanism with Lorentz force actuation and integrated force-sensing capability for automated cell micro-injection. A model-based force estimation approach is introduced such that no force sensor is required. Model identification is undertaken by applying a sinusoidal actuation signal while the mechanism contacts with objects of known stiffness. Displacement data is then used to calculate model coefficients via a least-squares optimization. By using an observer-based state estimation scheme with actuation and displacement signals as inputs, force sensing accuracy within 70 μ N RMS error could be achieved within a sensing range of 0 - 5 m N. This sensing capability confirms the suitability of the system for penetration force measurement in certain cases of cell micro-injection.