Using virtual input rejection to improve control of a platform for characterizing the mechanical properties of human oocytes
Joël Abadie, Sylvain Hernandez-Sabio, Emmanuel Piat
Abstract
Mechanical characterization of human oocytes holds great promise for improving the chances of pregnancy in assisted reproduction programs. However, the development of a high-performance device comes up against the numerous biological and normative constraints of medically Assisted Reproduction Technology (ART). The patented EggSense platform overcomes these difficulties and enables the mechanical characterization of human oocytes under clinical conditions. In this article, the focus is on the significant improvements achieved in EggSense by deploying advanced control techniques, based on Virtual Input Rejection COntrol (VIRCO). This approach is used to control the position of the force-sensing element in contact with the oocyte. Its implementation is fully described and experimentally validated. A comparison with a conventional controller is also provided to illustrate some of the benefits of VIRCO.
BibTeX
@inproceedings{iros2025_usingvirtualinpu,
title = {Using virtual input rejection to improve control of a platform for characterizing the mechanical properties of human oocytes},
author = {Joël Abadie and Sylvain Hernandez-Sabio and Emmanuel Piat},
booktitle = {IROS 2025},
year = {2025}
}