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.
Bagolini, A., Bellutti, P., Di Giamberardino, P., Rudas, I.J., D’Andrea, V., Verotti, M., et al. (2018). Stiffness characterization of biological tissues by means of MEMS-technology based micro grippers under position control. In C. Ferraresi e G. Quaglia (a cura di), Mechanisms and Machine Science, Advances in Service and Industrial Robotics (pp. 939-947). Springer Netherlands [10.1007/978-3-319-61276-8_100].
Stiffness characterization of biological tissues by means of MEMS-technology based micro grippers under position control
Di Giamberardino, Paolo;Belfiore, Nicola P.
2018-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
