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Communication Dans Un Congrès Année : 2009

2D micro teleoperation with force feedback

Résumé

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 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.
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Dates et versions

hal-02912205 , version 1 (05-08-2020)

Identifiants

Citer

Aude Bolopion, Barthélemy Cagneau, Stéphane Régnier. 2D micro teleoperation with force feedback. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), Oct 2009, St. Louis, MO, United States. pp.3265-3270, ⟨10.1109/IROS.2009.5354778⟩. ⟨hal-02912205⟩
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