ABSTRACT
This chapter presents a hybrid control strategy of force and position for cell puncture, and an adaptive smooth switching algorithm is further proposed for the realization of smooth switching between motion control of cell puncture mechanism and micro-force tracking control of cell puncture. Micropuncture experiments on zebrafish embryo cells were performed to validate the effectiveness of proposed adaptive hybrid force and position control algorithm. The main contribution of this chapter is twofold. On one hand, the hybrid force position controller is proposed to achieve precise cell puncture with less damage to the target cell; on the other hand, the proposed adaptive switching algorithm realizes the smooth switching from position control to force control without chattering or impact onto the process of gradual change of contact force.
