Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481156
Bassem Dahroug, Jean-Antoine Séon, Ali Oulmas, Tiantian Xu
After reviewing the various motion control strategies (waypoint sequence, trajectory tracking and path following), this paper suggests that path following is probably the best strategy at small scales. This is illustrated by three examples coming from biomedical applications: endoscopic laser steering, magnetic manipulation of microswimmers and navigation of a surgical tool under anatomical constraints.
{"title":"Some Examples of Path Following in Microrobotics","authors":"Bassem Dahroug, Jean-Antoine Séon, Ali Oulmas, Tiantian Xu","doi":"10.1109/MARSS.2018.8481156","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481156","url":null,"abstract":"After reviewing the various motion control strategies (waypoint sequence, trajectory tracking and path following), this paper suggests that path following is probably the best strategy at small scales. This is illustrated by three examples coming from biomedical applications: endoscopic laser steering, magnetic manipulation of microswimmers and navigation of a surgical tool under anatomical constraints.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"52 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124179954","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481155
Ronald Terrazas, Adrien De Maeijer, A. Bolopion, M. Gauthier, M. Kinnaert, P. Lambert
We present a contribution to thermocapillary micromanipulation of floating particles at the free surfaces. Based on a physical model for the so-called capillary dipole interaction, the force between two floating particles is predicted with a Bessel function, whose magnitude can be calculated from the measured distance between particles. This force is then considered as a disturbance force and rejected in the control scheme thanks to a feedforward strategy. Theoretical results for this strategy as well as an experimental proof of concept are given.
{"title":"Capillary Dipoles: Towards Thermocapillary Micromanipulation of Multiple Particles Floating at the Free Surface","authors":"Ronald Terrazas, Adrien De Maeijer, A. Bolopion, M. Gauthier, M. Kinnaert, P. Lambert","doi":"10.1109/MARSS.2018.8481155","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481155","url":null,"abstract":"We present a contribution to thermocapillary micromanipulation of floating particles at the free surfaces. Based on a physical model for the so-called capillary dipole interaction, the force between two floating particles is predicted with a Bessel function, whose magnitude can be calculated from the measured distance between particles. This force is then considered as a disturbance force and rejected in the control scheme thanks to a feedforward strategy. Theoretical results for this strategy as well as an experimental proof of concept are given.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125665024","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481233
Yanting Liu, Yajing Shen
This Seed-mediated growth prepared Au nanorods (Au NRs) are primarily secondary grown into Au nanoellipsoids (Au NEs) and then use as seeds for the epitaxial growth of silver shells on the gold core to form Au@Ag core-shell nanoellipsoids (Au@Ag core-shell NEs) in the presence of surfactants. The characterization of the morphology, optical properties and crystallography of Au NRs, Au NEs and Au@Ag core-shell NEs have been studied. Then we analyze the overall growth mechanism of the nanoparticles during the synthesis process. Moreover, by adjusting the amount of AgNO3adding in the epitaxial processes, different size Au@Ag core-shell NEs can also be obtained. Additionally, the surface-enhanced Raman scattering (SERS) enhancing properties of Au@Ag core-shell NEs have also been evaluated with 4-mercaptobenzoic acid (4-MBA) labelled molecule as Raman detector. Interesting, such core-shell NCs also exhibit efficient SERS intensity. The results obtained here suggest that Au@Ag core-shell NEs might serve as nanoprobe for SERS-based analytical and biosensing applications.
{"title":"Synthesis and Surface-Enhanced Raman Scattering Properties of AU@AG Core-Shell Nanoellipsoids","authors":"Yanting Liu, Yajing Shen","doi":"10.1109/MARSS.2018.8481233","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481233","url":null,"abstract":"This Seed-mediated growth prepared Au nanorods (Au NRs) are primarily secondary grown into Au nanoellipsoids (Au NEs) and then use as seeds for the epitaxial growth of silver shells on the gold core to form Au@Ag core-shell nanoellipsoids (Au@Ag core-shell NEs) in the presence of surfactants. The characterization of the morphology, optical properties and crystallography of Au NRs, Au NEs and Au@Ag core-shell NEs have been studied. Then we analyze the overall growth mechanism of the nanoparticles during the synthesis process. Moreover, by adjusting the amount of AgNO3adding in the epitaxial processes, different size Au@Ag core-shell NEs can also be obtained. Additionally, the surface-enhanced Raman scattering (SERS) enhancing properties of Au@Ag core-shell NEs have also been evaluated with 4-mercaptobenzoic acid (4-MBA) labelled molecule as Raman detector. Interesting, such core-shell NCs also exhibit efficient SERS intensity. The results obtained here suggest that Au@Ag core-shell NEs might serve as nanoprobe for SERS-based analytical and biosensing applications.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125797345","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481197
G. Fontana, G. Legnani, S. Ruggeri, I. Fassi
The current innovation of the mechatronic products has led to the use of miniaturized devices that combine components with different material, shape, reduced mass, and extremely small size, in order to increase the functionalities and the efficiency of the products. This trend involves new issues related to the manufacturing and automated assembly of these products. Even in constantly developing non-industrial sectors such as biomedicine, the need for automated equipment for preparing and manipulating biological samples represents a current challenge. In particular, the sorting and feeding systems cover an essential role since they can affect the task strategy, the operation scheduling, and the overall system performance. Moreover, they should cope with the adhesion issues related to micro-scale manipulation, as all the devices that handle sub-millimetric components. In this context, this paper presents two methods and the related tools for the automated sorting and manipulation of micro-spheres: the former exploits a micro-gripping tool and implements a pick-and-place (P&P) approach, while the latter is based on newly conceived devices implementing a “store-and-place” (S&P) strategy. The two methods were studied considering two application examples. They were firstly exploited to perform the automated rebailing of a BGA (Ball Grid Array) package to be mounted on a Printed Circuit Board; the implemented tasks will be described and discussed to underline their characteristics and applicability. Furthermore, a second application of the methods to the sorting and placement of fertilized Zebrafish eggs is envisaged.
{"title":"Micro-Gripping Methods for Micro-Spheres Sorting","authors":"G. Fontana, G. Legnani, S. Ruggeri, I. Fassi","doi":"10.1109/MARSS.2018.8481197","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481197","url":null,"abstract":"The current innovation of the mechatronic products has led to the use of miniaturized devices that combine components with different material, shape, reduced mass, and extremely small size, in order to increase the functionalities and the efficiency of the products. This trend involves new issues related to the manufacturing and automated assembly of these products. Even in constantly developing non-industrial sectors such as biomedicine, the need for automated equipment for preparing and manipulating biological samples represents a current challenge. In particular, the sorting and feeding systems cover an essential role since they can affect the task strategy, the operation scheduling, and the overall system performance. Moreover, they should cope with the adhesion issues related to micro-scale manipulation, as all the devices that handle sub-millimetric components. In this context, this paper presents two methods and the related tools for the automated sorting and manipulation of micro-spheres: the former exploits a micro-gripping tool and implements a pick-and-place (P&P) approach, while the latter is based on newly conceived devices implementing a “store-and-place” (S&P) strategy. The two methods were studied considering two application examples. They were firstly exploited to perform the automated rebailing of a BGA (Ball Grid Array) package to be mounted on a Printed Circuit Board; the implemented tasks will be described and discussed to underline their characteristics and applicability. Furthermore, a second application of the methods to the sorting and placement of fertilized Zebrafish eggs is envisaged.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129829007","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481147
T. Fukushima
We have proposed and developed 3D integration technologies based on self-assembly using surface tension of liquid from 2005. In this paper, microbump bonding and bumpless bonding in face-up and/or face-down configurations are introduced for fine-pitch interconnect formation. In addition, “non-transfer stacking”, in other word, flip-chip self-assembly and “transfer stacking” called reconfigure-wafer-to-wafer using SAE (Self-Assembly and Electrostatic) carrier are explained.
{"title":"Capillary Self-Assembly Based Multichip-to-Wafer System Integration Technologies","authors":"T. Fukushima","doi":"10.1109/MARSS.2018.8481147","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481147","url":null,"abstract":"We have proposed and developed 3D integration technologies based on self-assembly using surface tension of liquid from 2005. In this paper, microbump bonding and bumpless bonding in face-up and/or face-down configurations are introduced for fine-pitch interconnect formation. In addition, “non-transfer stacking”, in other word, flip-chip self-assembly and “transfer stacking” called reconfigure-wafer-to-wafer using SAE (Self-Assembly and Electrostatic) carrier are explained.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123776438","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481223
Ketul M Patel, Jinhong Qu, K. Oldham
This paper describes design and experimental testing of a simple rapid-prototyped, piezoelectrically-actuated legged robot. The 2 cm long by 3 cm wide robot is intended to serve as a large-scale testbed for concepts applicable to millimeter-scale, thin-film piezoelectrically-actuated micro-robots. It achieves high-speed, low-voltage operation through tilted orientation of cantilever-like legs. Tethered locomotion is achieved at 36 mm/s (> 1 body length per second) at as little as 10 V or at speeds as large 400 mmls at 80 V. Electronic loading characteristics of the piezoelectric actuators at low voltage conditions are similar to those of millimeter-scale prototypes. Free dynamics of the robot feet are measured experimentally to gain further insight into cantilever orientation effects on locomotion speed.
{"title":"Tilted Leg Design for a Rapid-Prototyped Low-Voltage Piezoelectric Running Robot","authors":"Ketul M Patel, Jinhong Qu, K. Oldham","doi":"10.1109/MARSS.2018.8481223","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481223","url":null,"abstract":"This paper describes design and experimental testing of a simple rapid-prototyped, piezoelectrically-actuated legged robot. The 2 cm long by 3 cm wide robot is intended to serve as a large-scale testbed for concepts applicable to millimeter-scale, thin-film piezoelectrically-actuated micro-robots. It achieves high-speed, low-voltage operation through tilted orientation of cantilever-like legs. Tethered locomotion is achieved at 36 mm/s (> 1 body length per second) at as little as 10 V or at speeds as large 400 mmls at 80 V. Electronic loading characteristics of the piezoelectric actuators at low voltage conditions are similar to those of millimeter-scale prototypes. Free dynamics of the robot feet are measured experimentally to gain further insight into cantilever orientation effects on locomotion speed.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127101628","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481230
Zhong Chen, Xiaomeng Jiang, Xianmin Zhang
Enforced modal damping of a piezoelectric driven positioning stage can improve its control bandwidth in avoiding of the shortcomings due to its lightly damping characteristics. This paper presents a novel damping flexure-guided mechanism with the comb-like substructures, which play a role of damping enhancement. This kind of design maintains the merits of a conventional compliant mechanism, such as fabrication methods, meanwhile, shearing damping is realized by a comb-like constrained-layer damping structure. A multi-objective optimization based on maximum control bandwidth and response smoothness is built up and implemented based on an Abaqus-Phython-Matlab cosimulation tool chain. Based on the optimal solution, a scanning transient analysis and comparison are implemented. The results indicate that the optimized flexure-guided mechanism has large modal damping and smoother frequency response than the non-optimized damping and non-damping mechanism.
{"title":"Design Optimization and Analysis of a Damped Flexure-Guided Stage","authors":"Zhong Chen, Xiaomeng Jiang, Xianmin Zhang","doi":"10.1109/MARSS.2018.8481230","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481230","url":null,"abstract":"Enforced modal damping of a piezoelectric driven positioning stage can improve its control bandwidth in avoiding of the shortcomings due to its lightly damping characteristics. This paper presents a novel damping flexure-guided mechanism with the comb-like substructures, which play a role of damping enhancement. This kind of design maintains the merits of a conventional compliant mechanism, such as fabrication methods, meanwhile, shearing damping is realized by a comb-like constrained-layer damping structure. A multi-objective optimization based on maximum control bandwidth and response smoothness is built up and implemented based on an Abaqus-Phython-Matlab cosimulation tool chain. Based on the optimal solution, a scanning transient analysis and comparison are implemented. The results indicate that the optimized flexure-guided mechanism has large modal damping and smoother frequency response than the non-optimized damping and non-damping mechanism.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"201 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124400467","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481179
Viet Ha Le, M. Hoang, Du Van Nguyen, Eunpyo Choi, ong-oh Park, Chang-sei Kim, Jayoung Kim, Byungjeon Kang
A novel wireless biopsy capsule endoscopic method is presented in this study. The developed biopsy endoscope can be actively controlled during investigation process and collect tissue sample at suspicious target lesion. The novel capsule endoscope consists of a permanent magnet, a micro biopsy punch module, and an external electromagnetic actuation system. A pill-shape prototype of capsule endoscope with biopsy device is manufacture with dimension of 12 mm in diameter and 32 mm in length. By controlling the external electro-magnetic actuation, we can create the targeting locomotion and biopsy operation for capsule endoscope. The interactions between controllable magnetic field of electromagnetic actuation system and permanent magnet inside capsule body enables the micro-biopsy module be able to extrude out of capsule body for tissue collection operation. The collected biopsy tissue had volume of about 5 mm3, which is sufficient for histological analysis. Experiments are conducted to measure force, controllability of biopsy module in ex-vivo. The feasibility of locomotion, targeting and biopsy procedure are also provided.
{"title":"A Novel Biopsy Capsule Endoscope for Wireless Intestinal Tissue Collection","authors":"Viet Ha Le, M. Hoang, Du Van Nguyen, Eunpyo Choi, ong-oh Park, Chang-sei Kim, Jayoung Kim, Byungjeon Kang","doi":"10.1109/MARSS.2018.8481179","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481179","url":null,"abstract":"A novel wireless biopsy capsule endoscopic method is presented in this study. The developed biopsy endoscope can be actively controlled during investigation process and collect tissue sample at suspicious target lesion. The novel capsule endoscope consists of a permanent magnet, a micro biopsy punch module, and an external electromagnetic actuation system. A pill-shape prototype of capsule endoscope with biopsy device is manufacture with dimension of 12 mm in diameter and 32 mm in length. By controlling the external electro-magnetic actuation, we can create the targeting locomotion and biopsy operation for capsule endoscope. The interactions between controllable magnetic field of electromagnetic actuation system and permanent magnet inside capsule body enables the micro-biopsy module be able to extrude out of capsule body for tissue collection operation. The collected biopsy tissue had volume of about 5 mm3, which is sufficient for histological analysis. Experiments are conducted to measure force, controllability of biopsy module in ex-vivo. The feasibility of locomotion, targeting and biopsy procedure are also provided.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"23 12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123050721","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481218
Peng Pan, Juntian Qu, Weize Zhang, Xianke Dong, Xinyu Liu
The Drosophila larva is an excellent model organism in biology for studying the mechanisms of sensory mechanotrans-duction and the neural basis of behavior. This paper reports an automated robotic system capable of force-controlled mechanical stimulation and locomotion behavior analysis of freely moving Drosophila larvae, which improves the force regulation accuracy and larva operation consistency over conventional manual manipulation. A 3D-printed, three-axis force sensor was developed and integrated into the robotic system to measure the contact force between the tip of an end-effector and the larva head, and an adaptive fuzzy proportional-integral-derivative (PID) controller was proposed for closed-loop control of the contact force. The three-axis force sensor was also employed to monitor lateral disturbances to the contact force caused by small larva head movements, and thus to validate the effectiveness of larva stimulation. The robotic system performed automated larva stimulation and locomotion analysis at a speed of four larvae per minute, and was applied to quantify the correlation between the applied contact force direction/magnitude and the larva reorientation behavior. With its high accuracy and efficiency, this system will greatly facilitate large-scale studies of mechanosensory behaviors in Drosophila larva.
{"title":"Automated Robotic Stimulation of Freely Moving Drosophila Larvae","authors":"Peng Pan, Juntian Qu, Weize Zhang, Xianke Dong, Xinyu Liu","doi":"10.1109/MARSS.2018.8481218","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481218","url":null,"abstract":"The Drosophila larva is an excellent model organism in biology for studying the mechanisms of sensory mechanotrans-duction and the neural basis of behavior. This paper reports an automated robotic system capable of force-controlled mechanical stimulation and locomotion behavior analysis of freely moving Drosophila larvae, which improves the force regulation accuracy and larva operation consistency over conventional manual manipulation. A 3D-printed, three-axis force sensor was developed and integrated into the robotic system to measure the contact force between the tip of an end-effector and the larva head, and an adaptive fuzzy proportional-integral-derivative (PID) controller was proposed for closed-loop control of the contact force. The three-axis force sensor was also employed to monitor lateral disturbances to the contact force caused by small larva head movements, and thus to validate the effectiveness of larva stimulation. The robotic system performed automated larva stimulation and locomotion analysis at a speed of four larvae per minute, and was applied to quantify the correlation between the applied contact force direction/magnitude and the larva reorientation behavior. With its high accuracy and efficiency, this system will greatly facilitate large-scale studies of mechanosensory behaviors in Drosophila larva.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116233507","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2018-07-01DOI: 10.1109/MARSS.2018.8481194
Sophia Sakr, Thomas Daunizeau, David Reversat, S. Régnier, S. Haliyo
Micro-assembly has always been a substantial issue for automation: micro-objects are difficult to grasp due to micro-world physical laws and a lack of adapted sensors. Therefore, many tasks are teleoperated using a nonintuitive device as joystick or button. This paper proposes a fresh remote handling solution to fill that need. A new 1-DOF master device which mimics a tweezers is brought to the fore: it is an instrumented haptic tweezers, handheld, allowing a high intuitiveness for the user. This master device, coupled with a tracking system, controls a micro-positioner and a micro-gripper. Different coupling strategies using position or speed variables are demonstrated.
{"title":"A Handheld Master Device for 3D Remote Micro-Manipulation","authors":"Sophia Sakr, Thomas Daunizeau, David Reversat, S. Régnier, S. Haliyo","doi":"10.1109/MARSS.2018.8481194","DOIUrl":"https://doi.org/10.1109/MARSS.2018.8481194","url":null,"abstract":"Micro-assembly has always been a substantial issue for automation: micro-objects are difficult to grasp due to micro-world physical laws and a lack of adapted sensors. Therefore, many tasks are teleoperated using a nonintuitive device as joystick or button. This paper proposes a fresh remote handling solution to fill that need. A new 1-DOF master device which mimics a tweezers is brought to the fore: it is an instrumented haptic tweezers, handheld, allowing a high intuitiveness for the user. This master device, coupled with a tracking system, controls a micro-positioner and a micro-gripper. Different coupling strategies using position or speed variables are demonstrated.","PeriodicalId":118389,"journal":{"name":"2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127476689","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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