{"id":"https://openalex.org/W2982528182","doi":"https://doi.org/10.1109/tro.2019.2946746","title":"Robotic Manipulation of Deformable Cells for Orientation Control","display_name":"Robotic Manipulation of Deformable Cells for Orientation Control","publication_year":2019,"publication_date":"2019-10-28","ids":{"openalex":"https://openalex.org/W2982528182","doi":"https://doi.org/10.1109/tro.2019.2946746","mag":"2982528182"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2019.2946746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2946746","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037119790","display_name":"Changsheng Dai","orcid":"https://orcid.org/0000-0002-8293-0097"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Changsheng Dai","raw_affiliation_strings":["Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, Canada"],"raw_orcid":"https://orcid.org/0000-0002-8293-0097","affiliations":[{"raw_affiliation_string":"Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100652271","display_name":"Zhuoran Zhang","orcid":"https://orcid.org/0000-0002-8737-4210"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Zhuoran Zhang","raw_affiliation_strings":["Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, Canada"],"raw_orcid":"https://orcid.org/0000-0002-8737-4210","affiliations":[{"raw_affiliation_string":"Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030912287","display_name":"Yuchen Lu","orcid":"https://orcid.org/0000-0003-4514-1475"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["CA","US"],"is_corresponding":false,"raw_author_name":"Yuchen Lu","raw_affiliation_strings":["Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, Canada","University of California, San Diego, La Jolla, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"University of California, San Diego, La Jolla, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066331381","display_name":"Guanqiao Shan","orcid":"https://orcid.org/0000-0002-2570-769X"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Guanqiao Shan","raw_affiliation_strings":["Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, Canada"],"raw_orcid":"https://orcid.org/0000-0002-2570-769X","affiliations":[{"raw_affiliation_string":"Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100352408","display_name":"Xian Wang","orcid":"https://orcid.org/0000-0002-1501-2544"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Xian Wang","raw_affiliation_strings":["Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, Canada"],"raw_orcid":"https://orcid.org/0000-0002-1501-2544","affiliations":[{"raw_affiliation_string":"Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090578099","display_name":"Qili Zhao","orcid":"https://orcid.org/0000-0002-9517-7460"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]},{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CA","CN"],"is_corresponding":false,"raw_author_name":"Qili Zhao","raw_affiliation_strings":["Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, Canada","Nankai University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]},{"raw_affiliation_string":"Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109226106","display_name":"Changhai Ru","orcid":null},"institutions":[{"id":"https://openalex.org/I3923682","display_name":"Soochow University","ror":"https://ror.org/05t8y2r12","country_code":"CN","type":"education","lineage":["https://openalex.org/I3923682"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changhai Ru","raw_affiliation_strings":["Research Center of Robotics and Micro System and the Collaborative Innovation Center of Suzhou Nano Science and Technology, Soochow University, Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center of Robotics and Micro System and the Collaborative Innovation Center of Suzhou Nano Science and Technology, Soochow University, Suzhou, China","institution_ids":["https://openalex.org/I3923682"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077878309","display_name":"Yu Sun","orcid":"https://orcid.org/0000-0001-7895-0741"},"institutions":[{"id":"https://openalex.org/I185261750","display_name":"University of Toronto","ror":"https://ror.org/03dbr7087","country_code":"CA","type":"education","lineage":["https://openalex.org/I185261750"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Yu Sun","raw_affiliation_strings":["Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, Canada"],"raw_orcid":"https://orcid.org/0000-0001-7895-0741","affiliations":[{"raw_affiliation_string":"Advanced Micro and Nanosystems Laboratory, University of Toronto, Toronto, Canada","institution_ids":["https://openalex.org/I185261750"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2909,"has_fulltext":false,"cited_by_count":86,"citation_normalized_percentile":{"value":0.92574565,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"36","issue":"1","first_page":"271","last_page":"283"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11255","display_name":"Microfluidic and Bio-sensing Technologies","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10490","display_name":"Orbital Angular Momentum in Optics","score":0.9922000169754028,"subfield":{"id":"https://openalex.org/subfields/3107","display_name":"Atomic and Molecular Physics, and Optics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11190","display_name":"3D Printing in Biomedical Research","score":0.9697999954223633,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.547463595867157},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5359241962432861},{"id":"https://openalex.org/keywords/oocyte","display_name":"Oocyte","score":0.5143400430679321},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.45666390657424927},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43801456689834595},{"id":"https://openalex.org/keywords/pipette","display_name":"Pipette","score":0.4205261468887329},{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.41938459873199463},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3882564604282379},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2284117043018341},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.20385995507240295},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1330031454563141},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.12781837582588196},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.09487354755401611}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.547463595867157},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5359241962432861},{"id":"https://openalex.org/C2776690073","wikidata":"https://www.wikidata.org/wiki/Q3246226","display_name":"Oocyte","level":3,"score":0.5143400430679321},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.45666390657424927},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43801456689834595},{"id":"https://openalex.org/C151552171","wikidata":"https://www.wikidata.org/wiki/Q163373","display_name":"Pipette","level":2,"score":0.4205261468887329},{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.41938459873199463},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3882564604282379},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2284117043018341},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.20385995507240295},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1330031454563141},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.12781837582588196},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.09487354755401611},{"id":"https://openalex.org/C95444343","wikidata":"https://www.wikidata.org/wiki/Q7141","display_name":"Cell biology","level":1,"score":0.0},{"id":"https://openalex.org/C147789679","wikidata":"https://www.wikidata.org/wiki/Q11372","display_name":"Physical chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C196843134","wikidata":"https://www.wikidata.org/wiki/Q33196","display_name":"Embryo","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2019.2946746","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2019.2946746","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320994","display_name":"Canada Research Chairs","ror":"https://ror.org/0517h6h17"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1971858902","https://openalex.org/W1982761020","https://openalex.org/W1982920857","https://openalex.org/W1986953096","https://openalex.org/W2004772233","https://openalex.org/W2010607480","https://openalex.org/W2037201547","https://openalex.org/W2037903801","https://openalex.org/W2039692967","https://openalex.org/W2042047814","https://openalex.org/W2048176578","https://openalex.org/W2049970458","https://openalex.org/W2071356645","https://openalex.org/W2076066501","https://openalex.org/W2081081996","https://openalex.org/W2087637359","https://openalex.org/W2092129509","https://openalex.org/W2096755293","https://openalex.org/W2099603791","https://openalex.org/W2101073745","https://openalex.org/W2108209129","https://openalex.org/W2109998105","https://openalex.org/W2114230029","https://openalex.org/W2118226084","https://openalex.org/W2120356183","https://openalex.org/W2120481893","https://openalex.org/W2122339603","https://openalex.org/W2140754284","https://openalex.org/W2159791647","https://openalex.org/W2159990364","https://openalex.org/W2168719879","https://openalex.org/W2236778027","https://openalex.org/W2264947754","https://openalex.org/W2280351290","https://openalex.org/W2315721109","https://openalex.org/W2318456191","https://openalex.org/W2322971354","https://openalex.org/W2329781692","https://openalex.org/W2346178339","https://openalex.org/W2410877323","https://openalex.org/W2473719885","https://openalex.org/W2501776475","https://openalex.org/W2592929672","https://openalex.org/W2767956479","https://openalex.org/W2808405904","https://openalex.org/W2900936384","https://openalex.org/W2904061522","https://openalex.org/W2968037007","https://openalex.org/W6693341526"],"related_works":["https://openalex.org/W1679315481","https://openalex.org/W3151495635","https://openalex.org/W4236870338","https://openalex.org/W2016917053","https://openalex.org/W2335837029","https://openalex.org/W2527888227","https://openalex.org/W51472912","https://openalex.org/W4361020386","https://openalex.org/W4362722828","https://openalex.org/W2236318108"],"abstract_inverted_index":{"Robotic":[0],"manipulation":[1,37,133],"of":[2,38,135,158,166,189,198,208],"deformable":[3,15,27,39],"objects":[4,16],"has":[5],"been":[6],"a":[7,84,112,127],"classic":[8],"topic":[9],"in":[10,51,55,191,200],"robotics.":[11],"Compared":[12,63],"to":[13,31,64,92,101,110,153,177],"synthetic":[14],"such":[17],"as":[18],"rubber":[19],"balls":[20],"and":[21,28,46,58,79,131,179,195],"clothes,":[22],"biological":[23],"cells":[24,40],"are":[25],"highly":[26],"more":[29,115],"prone":[30],"damage.":[32,95],"This":[33],"article":[34],"presents":[35],"robotic":[36,74],"for":[41,155],"orientation":[42,67,202,213],"control":[43,68,203,214],"(both":[44],"out-of-plane":[45],"in-plane),":[47],"which":[48],"is":[49,99,122,138,151,169],"required":[50],"both":[52],"clinical":[53],"(e.g.,":[54,60],"vitro":[56],"fertilization)":[57],"biomedical":[59],"clone)":[61],"applications.":[62],"manual":[65],"cell":[66,90,94],"based":[69,76],"on":[70,77,145],"empirical":[71],"experience,":[72],"the":[73,103,108,132,136,142,146,156,184,212],"approach,":[75],"modeling":[78],"path":[80,134],"planning,":[81],"effectively":[82],"rotates":[83],"cell,":[85],"while":[86],"consistently":[87],"maintaining":[88],"minimal":[89,104],"deformation":[91,207],"avoid":[93],"A":[96],"force":[97,105,120],"model":[98],"established":[100],"determine":[102],"applied":[106],"by":[107,140,171],"micropipette":[109,137],"rotate":[111],"spherical":[113],"or,":[114],"generally,":[116],"ellipsoidal":[117],"oocyte.":[118,147],"The":[119,163],"information":[121],"translated":[123],"into":[124],"indentation":[125,143],"through":[126],"contact":[128],"mechanics":[129],"model,":[130],"formed":[139],"connecting":[141],"positions":[144],"An":[148],"optimal":[149],"controller":[150],"designed":[152],"compensate":[154],"variations":[157],"mechanical":[159],"properties":[160],"across":[161],"oocytes.":[162],"polar":[164,192],"body":[165,193],"an":[167,187,196],"oocyte":[168,201,206],"detected":[170],"deep":[172],"neural":[173],"networks":[174],"with":[175,204],"robustness":[176],"shape":[178],"size":[180],"differences.":[181],"In":[182],"experiments,":[183],"system":[185],"achieved":[186],"accuracy":[188,197],"97.6%":[190],"detection":[194],"0.7\u00b0":[199],"maximum":[205],"2.70":[209],"\u03bcm":[210],"throughout":[211],"process.":[215]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":17},{"year":2022,"cited_by_count":22},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}