Analysis of stability and transparency for nanoscale force feedback in bilateral coupling

Bolopion, Aude; Cagneau, Barthelemy; Haliyo, Sinan; Régnier, Stéphane

doi:10.1007/s12213-009-0016-3

Cited by 33 publications

(33 citation statements)

References 30 publications

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“…Two discontinuous events occur when the probe is attracted by the substrate (pull-in, point A on the plot) and when the contact is broken (pull-off, point E on the plot). Two types of forces are at play, attractive forces dominating in B and D, and repulsive forces dominating in C [24], [25]. Please note that this curves are theoretical representations of an interaction on a hard surface.…”

Section: Experimental Validation Of the Active Sensormentioning

confidence: 99%

Micro-Force sensor by active control of a comb-drive

Mohand-Ousaid¹,

Haliyo²,

Régnier³

et al. 2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Abstract-This article describes an active force sensor with an accuracy of 0.4 µN over a large range [-400 to 400] µN. The mechanical structure, through a fiber suspension arrangement, provides exactly one degree of freedom. This design allows for a precise displacement sensing by a laser optical lever. The force sensing principle is based on the active control of an electrostatic bi-polar actuator. A meso-scale prototype has been built as proof-of-concept and an especially designed controller allows for high precision measurements on a large range. The system is validated by measuring both pull-in and pull-off forces during an approach-retract cycle on water droplet. Both phenomena, although differing by an order of magnitude in amplitude, are correctly assessed.

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Section: Experimental Validation Of the Active Sensormentioning

confidence: 99%

Micro-Force sensor by active control of a comb-drive

Mohand-Ousaid¹,

Haliyo²,

Régnier³

et al. 2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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“…Transparency analysis will be carried out in continuous time, without considering the delays. These assumptions are made to derive comprehensive relationships to compare the two control modes [24]. On the contrary, stability will be studied in discrete time as we will be interested on the sensitivity of the control schemes with respect to the sampling period.…”

Section: Comparison Of Transparency and Stability Propertiesmentioning

confidence: 99%

Comparing position and force control for interactive molecular simulators with haptic feedback

Bolopion¹,

Cagneau²,

Redon³

et al. 2010

Journal of Molecular Graphics and Modelling

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To cite this version:Aude Bolopion, Barthelemy Cagneau, Stephane Redon, Stéphane Régnier. Comparing position and force control for interactive molecular simulators with haptic feedback. Journal of Molecular Graphics and Modelling, Elsevier, 2010, 29 (2) AbstractThis paper presents a novel tool for the analysis of new molecular structures which enables a wide variety of manipulations. It is composed of a molecular simulator and a haptic device. The simulation software deals with systems of hundreds or thousands of degrees of freedom and computes the reconfiguration of the molecules in a few tenths of a second. For the ease of manipulation and to help the operator understand nanoscale phenomena, a haptic device is connected to the simulator. To handle a wide variety of applications, both position and force control are implemented. To our knowledge, this is the first time the applications of force control are detailed for molecular simulation. These two control modes are compared in terms of adequacy with molecular dynamics, transparency and stability sensitivity with respect to environmental conditions. Based on their specificity the operations they can realize are detailed. Experiments highlight the usability of our tool for the different steps of the analysis of molecular structures. It includes the global reconfiguration of a molecular system, the measurement of molecular properties and the comprehension of nanoscale interactions. Compared to most existing systems, the one developed in this paper offers a wide range of possible experiments. The detailed analysis of the properties of the control modes can be easily used to implement haptic feeback on other molecular simulators.

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“…The "coupling" is this bilateral link (see Fig. 2(a)), here we used constant scaling factors, but other schemes exist [11]. In our installation, the force measurement on the slave is used to create the sensation of touch on the master.…”

Section: Force Feedback Remote Handling For the Microworldmentioning

confidence: 99%

“…Passivity is a sufficient condition for stability and it is easier to evaluate algebraically since the condition for a direct coupling is A d = A f . As our gains are very different, the direct coupling makes the system potentially unstable t [11]. Other factors that can degrade the performance of the system are delays (see Fig.…”

Section: Coupling the Microworld To The Macroworldmentioning

confidence: 99%

“…Because the microworld environment is water, viscous drag on the trapped particle damps the system. Stability analysis allows us to quantify the range of scaling gains and, as for AFM micromanipulation [11], it can help us improve performance. Using simple model of the system (a second order system for the mirror, a linear spring for the trap, constant viscosity), Laplace Transforms and a block diagram like Fig.…”

Section: Coupling the Microworld To The Macroworldmentioning

confidence: 99%

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Touching the microworld with force-feedback optical tweezers

Pacoret¹,

Bowman²,

Gibson³

et al. 2009

Opt. Express

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Abstract:Optical tweezers are a powerful tool for micromanipulation and measurement of picoNewton sized forces. However, conventional interfaces present difficulties as the user cannot feel the forces involved. We present an interface to optical tweezers, based around a low-cost commercial force feedback device. The different dynamics of the micro-world make intuitive force feedback a challenge. We propose a coupling method using an existing optical tweezers system and discuss stability and transparency. Our system allows the user to perceive real Brownian motion and viscosity, as well as forces exerted during manipulation of objects by a trapped bead.

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Analysis of stability and transparency for nanoscale force feedback in bilateral coupling

Cited by 33 publications

References 30 publications

Micro-Force sensor by active control of a comb-drive

Micro-Force sensor by active control of a comb-drive

Comparing position and force control for interactive molecular simulators with haptic feedback

Touching the microworld with force-feedback optical tweezers

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