Dexterous teleoperation for micro parts handling based on haptic/visual interface

Kim, Deok Ho; Kim, Kyung-Hwan; Kim, Keun-Young; Cha, Sang-Min

doi:10.1109/mhs.2001.965247

Cited by 17 publications

References 7 publications

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From Teleoperation to Autonomous Robot-assisted Microsurgery: A Survey

Zhang

Fang

et al. 2022

Mach. Intell. Res.

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Robot-assisted microsurgery (RAMS) has many benefits compared to traditional microsurgery. Microsurgical platforms with advanced control strategies, high-quality micro-imaging modalities and micro-sensing systems are worth developing to further enhance the clinical outcomes of RAMS. Within only a few decades, microsurgical robotics has evolved into a rapidly developing research field with increasing attention all over the world. Despite the appreciated benefits, significant challenges remain to be solved. In this review paper, the emerging concepts and achievements of RAMS will be presented. We introduce the development tendency of RAMS from teleoperation to autonomous systems. We highlight the upcoming new research opportunities that require joint efforts from both clinicians and engineers to pursue further outcomes for RAMS in years to come.

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From Teleoperation to Autonomous Robot-assisted Microsurgery: A Survey

Zhang

Fang

et al. 2022

Mach. Intell. Res.

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Unified approach for functional task formulation in domain of micro/nano handling operations

Kostadinov

Kasper

Tiankov

et al. 2006

4M 2006 - Second International Conference on Multi-Material Micro Manufacture

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Development of mobile versatile nanohandling microrobots: design, driving principles, haptic control

et al. 2005

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Special micromanipulators are needed to manipulate very small objects. Most micromanipulators are specialized to perform a task they are designed for, but are too inflexible to adapt to other problems. Therefore, flexible newly developed mobile microrobots are presented with precision in the sub-micrometer range while offering a macroscopic workspace. The main parts of each mobile microrobot, the mobile platform, the manipulator and end effectors, are explained in detail, with some experimental data given.The new driving principle of the mobile platform allows high resolution, low energy consumption, which makes an on-board power supply feasible and a maximum velocity of several mm/s.Useful human interfaces are needed for a successful teleoperation. The most important interface next to the vision feedback is a haptic interface. The paper presents a newly developed haptic interface for a micromanipulation station. The mechanical design and the design of the control system of the haptic interface are discussed in details. The control architecture of the micromanipulation station and the integration of the haptic device into the micromanipulation station are presented.

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Dexterous teleoperation for micro parts handling based on haptic/visual interface

Cited by 17 publications

References 7 publications

From Teleoperation to Autonomous Robot-assisted Microsurgery: A Survey

From Teleoperation to Autonomous Robot-assisted Microsurgery: A Survey

Unified approach for functional task formulation in domain of micro/nano handling operations

Development of mobile versatile nanohandling microrobots: design, driving principles, haptic control

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