Autonomous micromanipulation using a new strategy of accurate release by rolling

Dionnet, Fabien; Haliyo, Sinan; Régnier, Stéphane

doi:10.1109/robot.2004.1302513

Cited by 24 publications

(11 citation statements)

References 13 publications

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“…and Koichi OZAKI *1 *1,*2 Utsunomiya University 7-1-2 Yoto, Utsunomiya-shi, Tochigi 321-8585, Japan (Fuchiwaki et al, 2008(Fuchiwaki et al, )( 2015 ( 2013) MEMS (Chen et al, 2009) (Dionnet et al, 2004) (Gauthier, 1998) (Saito et al, 2002) (Gauthier et al, 1998) 2 (Lambert et al, 2003) Dafflon Γ (Gauthier et al, 1998) (Abe et al, 2016) θ…”

Section: Memsmentioning

confidence: 99%

Strategy of pickup and release of micro-object by approach angle in geometrical and mechanical conditions

Abe¹,

Ogasawara²,

Ozaki³

2017

Transactions of the JSME (In Japanese)

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This paper discusses a micro manipulation considering that an approach angle on pickup affects adhesion and mechanical balance on release by using two needle-shaped end-effectors. In micro-scale, adhesion is generated by capillary, van der Waals and electrostatic besides gravity. Accurate and repeatable pick-and-release/place of micro sized objects is a longstanding challenge due to the strong adhesion in micro manipulation. We first introduce a strategy of pickup and release of a micro sphere. The strategy features in that the approach angle on pickup decides release by two conditions: one is geometrical condition between the sphere and a tip of end-effector, and the another is mechanical condition by forces (adhesion, gravity and friction) to the sphere from the tip and a substrate. To confirm the efficacy of the strategy, the micromanipulation tests with different approach angles have been conducted. Finally, we show the experimental results by pickup and release of spherical glass beads and not spherical pollens, for confirming the validity of the proposed strategy as a novel manipulation method.

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Section: Memsmentioning

confidence: 99%

Strategy of pickup and release of micro-object by approach angle in geometrical and mechanical conditions

Abe¹,

Ogasawara²,

Ozaki³

2017

Transactions of the JSME (In Japanese)

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“…An example strategy of micromanipulation that has been experimentally demonstrated for this purpose is the pick-and-place by adhesion with an AFM cantilever [8] [9].…”

Section: Afm Virtual Teleoperation Systemmentioning

confidence: 99%

Intention prediction approach to interact naturally with the microworld

Cohen

Haliyo

Chétouani

et al. 2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Micromanipulation tools are not yet commonly used in the industry or in the research due to the lack of natural and intuitive human-computer interfaces. This work proposes a vision based approach using a Kinect RGB-Depth sensor to provide a "metaphor-free" interface. An intention prediction approach is proposed, based on a cognitive science computational model, to allow a more natural interaction without any prior instructions. This model is compared to a vision based gesture recognition approach in terms of naturalness and intuitiveness. It shows an improvement in user performance in terms of duration and success of the task, and a qualitative preference for the proposed approach evaluated by a user survey.

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“…In nanotechnologies, measurement of adhesion forces is required for experimental validation of different models for micro objects interactions, like model of adhesion developed in [2]. In microscale manipulation, those interaction forces affect greatly gripping and assembly strategies [3], [4].…”

Section: Introductionmentioning

confidence: 99%

Micro-Force sensor by active control of a comb-drive

Mohand-Ousaid¹,

Haliyo²,

Régnier³

et al. 2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Abstract-This article describes an active force sensor with an accuracy of 0.4 µN over a large range [-400 to 400] µN. The mechanical structure, through a fiber suspension arrangement, provides exactly one degree of freedom. This design allows for a precise displacement sensing by a laser optical lever. The force sensing principle is based on the active control of an electrostatic bi-polar actuator. A meso-scale prototype has been built as proof-of-concept and an especially designed controller allows for high precision measurements on a large range. The system is validated by measuring both pull-in and pull-off forces during an approach-retract cycle on water droplet. Both phenomena, although differing by an order of magnitude in amplitude, are correctly assessed.

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Autonomous micromanipulation using a new strategy of accurate release by rolling

Cited by 24 publications

References 13 publications

Strategy of pickup and release of micro-object by approach angle in geometrical and mechanical conditions

Strategy of pickup and release of micro-object by approach angle in geometrical and mechanical conditions

Intention prediction approach to interact naturally with the microworld

Micro-Force sensor by active control of a comb-drive

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