A novel haptic platform for real time bilateral biomanipulation with a MEMS sensor for triaxial force feedback

Sieber, Arne; Valdastri, Pietro; Houston, Keith; Eder, Clemens; Tonet, O.; Menciassi, Arianna; Dario, P.

doi:10.1016/j.sna.2007.03.018

Cited by 34 publications

(21 citation statements)

References 15 publications

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“…[1][2][3][4][5][6][7][8][9][10][11][12] We are focusing in the present work on composites of conducting particles embedded in an insulating elastomer matrix. The matrix is compressed by the action of an externally applied uniaxial pressure keeping constant the amount of conducting particles, a process that increases the electrical conductance of the composite, which can be used for obtaining a pressure sensor.…”

Section: Introductionmentioning

confidence: 99%

A model for the dependence of the electrical conductance with the applied stress in insulating-conducting composites

Negri

Rodríguez

Bernik

et al. 2010

Journal of Applied Physics

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A model for the dependence of the electrical conductance, G, with the strain induced by external mechanical stress in conducting particles-polymer composites is presented. The model assumes that the percolation probability between neighboring particles must depart from a scale-invariant behavior but saturate at moderated-high strains, reaching percolation path's saturation, with sigmoid dependence. This dependence is obtained by proposing a dynamic picture where contacts or bonds between neighboring particles are created but also destructed when a stress is applied and relatively moderated or high strains, , are produced in the composite. The electrical conductance of prepared graphite-polydimethylsiloxane composites were measured as function of the applied pressure and fitted by the presented model. The elastic response to the uniaxial compression was studied using a texture analyzer. The possibility of nonuniversal effects in the conduction critical exponent, t, was taken into account. It is concluded that the saturation of the response in the G versus plots cannot be assigned to nonuniversal behavior of the exponent t, or to saturation of the elastic response. On the other hand, the presented model accounts for all the main experimental features observed in these systems and for previously reported data of elastomer composites. The simulated behavior of the piezoresistivity coefficient is also in qualitative agreement with previous reports.

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Section: Introductionmentioning

confidence: 99%

A model for the dependence of the electrical conductance with the applied stress in insulating-conducting composites

Negri

Rodríguez

Bernik

et al. 2010

Journal of Applied Physics

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“…The same group recently devised a shared-control steering approach for this manipulation system that uses visual servoing techniques to help the operator in completing various micromanipulation tasks (Vlachos and Papadopoulos, 2014). Sieber et al (2008) developed a haptic platform for bilateral micromanipulation of cells with 3-D force feedback. It is composed of a MEMS-based silicon triaxial force sensor, customized to act as a sensing probe.…”

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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“…Some researchers have utilized haptic interfaces in 1-DOF to perform basic operations like pushing [4] or more complicated functions for grasping micro-objects and carrying out assembly tasks [5], [6], [7]. Others have focused on biological applications by handling cells and tissue [8], [9]. Even if the results of using haptic technology for microassembly are promising, many challenges still need to be overcome with regard to design and control of multiple DOF haptic tele-operated systems for performing dexterous tasks.…”

Section: State Of the Artmentioning

confidence: 99%

A Haptic Tele-operated System for Microassembly

Estévez

Khan

Lambert

et al. 2010

Precision Assembly Technologies and Systems

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Abstract.A tele-haptic system for microassembly applications is currently being developed at the Delft University of Technology, with the goal of achieving superior performance by providing enhanced feedback to the human operator. Assembly of a micro-harmonic drive is used as a benchmark to fully evaluate the proposed tele-haptic system by investigating the control strategies and the individual subsystems: master device, microgrippers and slave system. The master device will be comprised of a parallel robot with a built-in gripper. The slave system and end effector are focused on providing efficient and effective force feedback of the interactions on the microenvironment to the human operator, in addition to detecting position and orientation of the object being grasped. Novel control strategies are also investigated to allow the transmission of high frequency transients to the operator, carrying information from hard contact interactions between the microgripper and the part to be assembled.

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A novel haptic platform for real time bilateral biomanipulation with a MEMS sensor for triaxial force feedback

Cited by 34 publications

References 15 publications

A model for the dependence of the electrical conductance with the applied stress in insulating-conducting composites

A model for the dependence of the electrical conductance with the applied stress in insulating-conducting composites

Haptic Feedback for Microrobotics Applications: A Review

A Haptic Tele-operated System for Microassembly

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