2D high speed force feedback teleoperation of optical tweezers

Ni, Zhenjiang; Pacoret, Cécile; Benosman, Ryad; Régnier, Stéphane

doi:10.1109/icra.2013.6630799

Cited by 10 publications

(12 citation statements)

References 18 publications

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“…The temporal precision of the asynchronous silicon retina is used to provide haptic feedback using an Omega.3 haptic device, while the camera is used to retrieve the position of the object to be manipulated. The same group also presented a haptic feedback teleoperation system for optical tweezers (OT) that attains high frequency (Ni et al, 2013). It is composed of laser OT and an Omega.3 haptic interface.…”

Section: Atomic Force Microscopymentioning

confidence: 99%

Haptic Feedback for Microrobotics Applications: A Review

et al. 2016

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Microrobotics systems are showing promising results in several applications and scenarios, such as targeted drug delivery and screening, biopsy, environmental control, surgery, and assembly. While most of the systems presented in the literature consider autonomous techniques, there is a growing interest in human-in-the-loop approaches. For reasons of responsibility, safety, and public acceptance, it is in fact beneficial to provide a human with intuitive and effective means for directly controlling these microrobotic systems. In this respect, haptic feedback is widely believed to be a valuable tool in human-in-the-loop teleoperation systems. This article presents a review of the literature on haptic feedback systems for microrobotics, categorizing it according to the type of haptic technology employed. In particular, we considered both tethered and untethered systems, including applications of micropositioning, microassembly, minimally invasive surgery, delivery of objects, micromanipulation, and injection of cells. One of the main challenges for an effective implementation is stability control. In fact, the high scaling factors introduced to match variables in the macro and the micro worlds may introduce instabilities. Another challenge lies in the measurement of position and force signals in the remote environment. The integration of microsized sensors may significantly increase the complexity and cost of tools fabrication. To overcome the lack of force-sensing, vision seems a promising solution. Finally, although the literature on haptic feedback for untethered microrobotics is still quite small, we foreseen a great development of this field of research, thanks to its flexible applications in biomedical engineering scenarios.

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Section: Atomic Force Microscopymentioning

confidence: 99%

Haptic Feedback for Microrobotics Applications: A Review

et al. 2016

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“…Bolopion et al combined two AFM in order to achieve 3-D microassembly of spherical objects with haptic feedback [6]. Other developments include a remote handling task between Paris, France, and Oldenburg, Germany [7], bilateral teleoperation systems using magnetic levitation [8] or haptic feedback systems based on high-speed vision tracking [9]- [11]. Recently, Matsumi et al…”

Section: Introductionmentioning

confidence: 99%

A Stable and Transparent Microscale Force Feedback Teleoperation System

Mohand-Ousaid

Haliyo

Régnier

et al. 2015

IEEE/ASME Trans. Mechatron.

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Scaled force feedback teleoperation is a promising approach to assist an operator engaged in a microscale task. Several systems were previously described to achieve such purpose, but much room was left for improvement, especially with regard to the specificities of bilateral coupling with very large scaling coefficients. Here, the objective is to render at human-scale haptic information available at the microscale, and to provide scaled teleoperation that simultaneously achieves stability and transparency. An active force sensor and a novel haptic interface were interconnected to form a complete teleoperation chain through a direct, two-channel scheme. Stability was ensured by enforcing passivity in the slave and in the master subsystems. Several experiments were carried out to demonstrate the capabilities of the system. The first experiment involved noncontact magnetic interaction. A second set of experiments demonstrated the penetration of a thin-glass probe in a water droplet where the operator interactively felt capillary forces.

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“…These instruments are very sensitive since the detected displacements can be as low as those induced by the ambient Brownian agitation and interactions forces can be detected in the picoNewton or nanoNewton range [28], [29], [30]. The user interface can be seen in Fig.…”

Section: Interacting With the Micro-worldmentioning

confidence: 99%

KiloHertz Bandwidth, Dual-Stage Haptic Device Lets You Touch Brownian Motion

Lu¹,

Pacoret

Hériban

et al. 2017

IEEE Trans. Haptics

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Abstract-This paper describes a haptic interface that has a uniform response over the entire human tactile frequency range. Structural mechanics makes it very difficult to implement articulated mechanical systems that can transmit high frequency signals. Here, we separated the frequency range into two frequency bands. The lower band is within the first structural mode of the corresponding haptic device while the higher one can be transmitted accurately by a fast actuator operating from conservation of momentum, that is, without reaction forces to the ground. To couple the two systems, we adopted a channel separation approach akin to that employed in the design of acoustic reproduction systems. The two channels are recombined at the tip of the device to give a uniform frequency response from DC to one kHz. In terms of mechanical design, the high-frequency transducer was embedded inside the tip of the main stage so that during operation, the human operator has only to interact with a single finger interface. In order to exemplify the type of application that would benefit from this kind of interface, we applied it to the haptic exploration with microscopic scales objects which are known to behave with very fast dynamics. The novel haptic interface was bilaterally coupled with a micromanipulation platform to demonstrate its capabilities. Operators could feel interaction forces arising from contact as well as those resulting from Brownian motion and could manoeuvre a micro bead in the absence of vision.

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2D high speed force feedback teleoperation of optical tweezers

Cited by 10 publications

References 18 publications

Haptic Feedback for Microrobotics Applications: A Review

Haptic Feedback for Microrobotics Applications: A Review

A Stable and Transparent Microscale Force Feedback Teleoperation System

KiloHertz Bandwidth, Dual-Stage Haptic Device Lets You Touch Brownian Motion

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