A Shared Control Approach for Optical Cell Manipulation

In this paper, we propose a shared control approach for optical manipulation of biological cells. A robotic control methodology is developed that allows association between human and an autonomous optical cell manipulation system. Human, when applicable or necessary, is able to associate with an autonomous cell manipulation system in a stable manner, and thus guiding the system to perform the operation task effectively. While current optical cell manipulation systems are only capable of performing either autonomous task or manual operation, the proposed approach offers an opportunity for human to associate with an autonomous optical cell manipulation system, when applicable or necessary, so as to deal with complex operation tasks. The stability of the shared control system is analyzed with a Lyapunov-like method, and the effectiveness of the proposed approach is validated with experimental results.