{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:01:07Z","timestamp":1777716067958,"version":"3.51.4"},"reference-count":68,"publisher":"SAGE Publications","issue":"14","license":[{"start":{"date-parts":[[2011,8,15]],"date-time":"2011-08-15T00:00:00Z","timestamp":1313366400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2011,12]]},"abstract":"<jats:p>The positioning of biological cells has become increasingly important in biomedical research such as drug discovery, cell-to-cell interaction, and tissue engineering. Significant demand for both accuracy and productivity in cell manipulation highlights the need for automated cell transportation with integrated robotics and micro\/nano-manipulation technologies. Optical tweezers, which use highly focused low-power laser beams to trap and manipulate particles at the micro\/nanoscale, can be treated as special robot \u2018end-effectors\u2019 to manipulate biological objects in a noninvasive way. In this paper, we propose to use a robot-tweezer manipulation system for automatic transportation of biological cells. A dynamics equation of the cell in an optical trap is analyzed. Closed-loop controllers are designed for positioning single cells as well as multiple cells. A synchronization control technology is utilized for multicell transportation with maintained cell pattern. Experiments are performed on transporting live cells to demonstrate the effectiveness of the proposed approach.<\/jats:p>","DOI":"10.1177\/0278364911413479","type":"journal-article","created":{"date-parts":[[2011,8,15]],"date-time":"2011-08-15T20:20:38Z","timestamp":1313439638000},"page":"1681-1694","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":176,"title":["Automatic transportation of biological cells with a robot-tweezer manipulation system"],"prefix":"10.1177","volume":"30","author":[{"given":"Songyu","family":"Hu","sequence":"first","affiliation":[{"name":"Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Hong Kong S.A.R., P. R. China"}]},{"given":"Dong","family":"Sun","sequence":"additional","affiliation":[{"name":"Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Hong Kong S.A.R., P. R. 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