Cellular force measurement for force reflected biomanipulation

Deok Ho Kim, Byungkyu Kim, Seok Yun, Sang Joo Kwon

Research output: Contribution to journalConference articlepeer-review

30 Scopus citations


In biological cell manipulations, manual thrust or penetration of injection pipette into single cells is usually performed by a skilled operator, relying on the visual feedback information only. Accurately measuring cellular force is a requirement for minimally invasive cell injection and it is essential in investigating biomechanical properties of cell membranes. We have fabricated an end-effector with microforce sensing capability for bio cell injections using PVDF piezoelectric polymer and measured several mN level injection force for zebrafish egg cell. Experimental results show that the cellular force level is changed as the injection pipette penetrates yolk and chorion sequentially. As well, the experimental setup with haptic interface suggests that a more reliable biomanipulation can be achieved by supplying real-time cellular force feedback to the operator.

Original languageEnglish (US)
Pages (from-to)2412-2417
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue number3
StatePublished - 2004
Externally publishedYes
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004


  • Biomanipulation
  • Cell membranes
  • Cellular force sensing
  • Force sensor
  • Zebrafish egg

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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