2D micro teleoperation with force feedback

This paper presents a 2D teleoperation task at microscales with force feedback. At this scale, two major problems arise while performing manipulation tasks: the lack of 3D real time visual feedback, and the difficulty to determine the interaction forces. Therefore, indications must be provided to he...

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Bibliographic Details
Main Authors: Bolopion, A., Cagneau, B., Regnier, S.
Format: Conference Proceeding
Language:English
Subjects:
Force feedback
Force measurement
Haptic interfaces
Intelligent robots
Laser beams
Laser feedback
Mechanical factors
Mechanical variables measurement
Probes
Virtual reality
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Summary:This paper presents a 2D teleoperation task at microscales with force feedback. At this scale, two major problems arise while performing manipulation tasks: the lack of 3D real time visual feedback, and the difficulty to determine the interaction forces. Therefore, indications must be provided to help the user perform a given task. In this paper, we provide the user with intuitive force feedback, to improve objects' manipulation using a haptic device. Our platform is composed of a tipless beam manipulator, which is deformed when forces are applied to it. These deformations are measured using a laser. The force information we provide to the user is based on the raw beam's deformation measurement, and mechanical properties of the probe. It does provide the operator with indications about the interaction forces. This approach is validated by performing lateral and longitudinal rolling operations using microspheres with a radius of 25-micrometers. 2D rolling telemanipulation at microscale with force feedback is successfully demonstrated.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2009.5354778