Haptic interface for a nanohandling robot

Shirinov, A.; Kamenik, Jens; Fatikow, Sergej

doi:10.1108/01445150410517200

Cited by 5 publications

(4 citation statements)

References 17 publications

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“…Finally, a wireless magnetic control system regulates the orientation of the microrobot to reach the target point. Shirinov and Fatikow (2003) developed a 4-DoF haptic interface for the remote control of microrobotic cells, which are realized on the basis of a SEM. Two microrobots equipped with piezoelectric actuators operate in the cell, and a 6-axis force/torque sensor is in charge of registering the forces to be filtered, amplified, and finally provided to the human user through the 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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“…Instead of transmitting haptic forces that perfectly match measured forces, it is possible to simply define haptic forces that will help users perform a given task. Such virtual force fields are called “virtual guides.” A first approach to haptic-based model-oriented teleoperation was proposed in Shirinov, Kamenik, and Fatikow (2004), whereby measurements from a piezoresistive cantilever were used to derive haptic feedback. Two main models were proposed, including free space and rigid wall models; however, no detailed models have been developed for complex manipulations.…”

Section: Direct Teleoperationmentioning

confidence: 99%

Haptic Feedback in Teleoperation in Micro- and Nanoworlds

Bolopion¹,

Millet²,

Pacoret³

et al. 2013

Reviews of Human Factors and Ergonomics

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Robotic systems have been developed to handle very small objects, but their use remains complex and necessitates long-duration training. Simulators, such as molecular simulators, can provide access to large amounts of raw data, but only highly trained users can interpret the results of such systems. Haptic feedback in teleoperation, which provides force-feedback to an operator, appears to be a promising solution for interaction with such systems, as it allows intuitiveness and flexibility. However several issues arise while implementing teleoperation schemes at the micro-nanoscale, owing to complex force-fields that must be transmitted to users, and scaling differences between the haptic device and the manipulated objects. Major advances in such technology have been made in recent years. This chapter reviews the main systems in this area and highlights how some fundamental issues in teleoperation for micro-and nano-scale applications have been addressed. The chapter considers three types of teleoperation, including: (1) direct (manipulation of real objects); (2) virtual (use of simulators); and (3) augmented (combining real robotic systems and simulators). Remaining issues that must be addressed for further advances in teleoperation for micro-nanoworlds are also discussed, including: (1) comprehension of phenomena that dictate very small object (< 500 micrometers) behavior; and (2) design of intuitive 3-D manipulation systems. Design guidelines to realize an intuitive haptic feedback teleoperation system at the micro-nanoscale level are proposed.Keywords: Teleoperation, haptics, micromanipulation, nanomanipulation, molecular simulation, user testing.3 Micro-nanomanipulation is the manipulation of objects ranging from 1 mm down to 1 nm.The primary challenge for this type of manipulation is facilitating user interaction with an intangible world. This challenge has often been approached through the use of simulations (see Figure 1). In order to facilitate performance in such applications, new methods must be developed for user understanding of the physical mechanisms that dictate behavior of very small objects, including artificial or biological microscopic objects. Furthermore, users must be provided with intuitive interfaces to facilitate, for example, micro-nanoassembly operations (i.e., assembly of components ranging from 1 nm to 1 mm). To overcome these challenges, there is a need for teleoperation systems that enable the manipulation of objects in 3-D, while providing feedback on object interaction forces in real-time. This chapter proposes design guidelines for such systems. Users must be provided with knowledge about phenomena at this scale and intuitive interfaces 4 for object manipulation. Photos in figure come from Liu, Sun, Wang, and Lansdorp (2007) and Bargiel, Rabenorosoa, Clévy, Gorecki, and Lutz (2010).At the micro-nano scale, manual interaction with objects is impossible, owing to very small physical size of objects, as well as the fragility of the objects and tools, the complexity of force...

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“…Any extension of this work should further analyse user intent from actions exerted on any input device. Joysticks could be replaced by haptic devices (Han and Lee, 2007;Shirinov et al, 2004;Song et al, 2006) so that tele-operators could feel a back-force generated by the signal from the sensor sub-system. That way distance feedback could be provided through the joystick.…”

Section: Future Workmentioning

confidence: 99%

Comparing speed to complete progressively more difficult mobile robot paths between human tele‐operators and humans with sensor‐systems to assist

Sanders

2009

Assembly Automation

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Purpose -The purpose of this paper is to investigate the effect on time to complete a task depending on how a human operator interacts with a mobile-robot. Interaction is investigated using two tele-operated mobile-robot systems, three different ways of interacting with robots and several different environments. The speed of a tele-operator in completing progressively more complicated driving tasks is investigated also. Design/methodology/approach -Tele-operators are timed completing a series of tasks using a joystick to control a mobile-robot. They either watch the robot while operating it, or sit at a computer and view scenes remotely on a screen. Cameras are either mounted on the robot, or so that they view both the environment and robot. Tele-operators complete tests both with and without sensors. One robot system uses an umbilical cable and one uses a radio link. Findings -In simple environments, a tele-operator may perform better without a sensor system to assist them but in more complicated environments then a tele-operator may perform better with a sensor system to assist. Tele-operators may also tend to perform better with a radio link than with an umbilical connection. Tele-operators sometimes perform better with a camera mounted on the robot compared with pre-mounted cameras observing the environment (but that depends on tasks being performed). Research limitations/implications -Tele-operated systems rely heavily on visual feedback and experienced operators. This paper investigates how to make tasks easier. Practical implications -The paper suggests that the amount of sensor support should be varied depending on circumstances. Originality/value -Results show that human tele-operators perform better without the assistance of a sensor systems in simple environments.

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Haptic interface for a nanohandling robot

Cited by 5 publications

References 17 publications

Haptic Feedback for Microrobotics Applications: A Review

Haptic Feedback for Microrobotics Applications: A Review

Haptic Feedback in Teleoperation in Micro- and Nanoworlds

Comparing speed to complete progressively more difficult mobile robot paths between human tele‐operators and humans with sensor‐systems to assist

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