Multimodal control of a microrobot in an SEM-based nanohandling station

Abstract

Abswm-The multimodal teleoperalion interface has to improve the human control over the microrobots and the overall nanohandling station by immersing the user into the microworld in which the nanohandling procedures take place. The user will receive more inforination about the stale of the nanohandling process and in a more convenient way than by other existing teleoperation interfaces: Force infomation by the haptic interface, acoustical information by headphones and visual information from the scanning electron microscope (SEM) by the head-mounted display. The SEM-based microassembly station being developed at the Division of Microrobotics and Conlrol Engineering (AMiR) at Oldenburg University is introduced. The construction of the developed haptic device and the control system architecture are described. A Sugenonakagi-type fuzzy interpolator is used for the processing of the haptic device's signals.

Automatic dextrous microhandling based on a 6-DOF microgripper

“…In the case of telemanipulation, the operator can close the loop. Techniques such as multi-model control can effectively improve the performance [64]. When bilateral control is needed, the task becomes interesting and many studies have been carried out, e.g.…”