Bilateral Macro–Micro Teleoperation Using Magnetic Levitation

Mehrtash, Moein; Tsuda, Naoaki; Khamesee, Mir Behrad

doi:10.1109/tmech.2011.2121090

Cited by 41 publications

(25 citation statements)

References 42 publications

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“…The drive unit consists of six-pair of electromagnets, a disc pole-piece for connecting the magnetic poles, and a yoke. The effectiveness of this structure for the 3D position controlling of the microrobots was reported in (5), (16), (17) . The maximum magnetic field in z-direction produced by the MDU is in the range of 0.1-0.2 Tesla inside the workspace.…”

Section: Fig 2 Basic Components Of the Magnetic Drive Unit (Mdu)mentioning

confidence: 99%

“…Hence, the PM can be manipulated by regulating the gradients of B and controlling the B max location. MDU's magnetic force model (5), (17) as…”

Section: Fig 2 Basic Components Of the Magnetic Drive Unit (Mdu)mentioning

confidence: 99%

“…A magnetic-haptic micromanipulation platform (MHMP) (5) has been developed at the Maglev Microrobotics Laboratory, University of Waterloo for biological and biomedical micromanipulations, schematically shown in Fig. 1.…”

Section: Introductionmentioning

confidence: 99%

“…The MHMP consists of three basic subsystems as follows: a magnetic untethered microrobot system (MUMS), a haptic device, and a bilateral teleoperation system. The MUMS uses the magnetic-based propulsion technol- (5) ogy that produces a bio-compatible environment. The MHMP utilizes a commercial haptic interface as its master side that operates by a human operator.…”

Section: Introductionmentioning

confidence: 99%

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Micro-Domain Force Estimation Using Hall-Effect Sensors for a Magnetic Microrobotic Station

Mehrtash

Khamesee

2013

JAMDSM

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This paper introduces a novel micro-domain force estimation method for applications in a magnetic-haptic micromanipulation platform (MHMP). The MHMP employs the magnetic levitation technology in micro-domain worlds for ultra-high precision micromanipulation. In the MHMP, a microrobot that consists of a magnetic head and a body that includes electronic parts and an end-effector is manipulated by regulating an external magnetic field. The MHMP has been equipped with a haptic technology to allow a human operator to feel micro-domain environments and to intervene in dexterous tasks due to the poor knowledge from micro-worlds. To preserve a high feeling of a micro-domain environment for a human operator, the applied force/torque from the environment to the microrobot are required to be directly measured by specific sensors. Due to the size restriction, attaching force sensors to our microrobot is impractical. Therefore, we use a combination of Hall-effect sensor in the structure of the MHMP to estimate a single-axis force, eliminating the need for sensors on the microrobot. The Hall-sensors measure the magnetic flux and determine the location of the horizontally zero magnetic field gradient, B max location. It was realized that the applied force from the environment to the microrobot is linearly proportional to the distance of the microrobot from the B max location. The magnetic force which is equal to the environment force is calibrated using a cantilever deflection. The developed micro-domain force estimation method is verified experimentally, and it was demonstrated that this method has promising potential in estimating the environmental force applied to the microrobot in a non-contact way.

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Section: Fig 2 Basic Components Of the Magnetic Drive Unit (Mdu)mentioning

confidence: 99%

“…Hence, the PM can be manipulated by regulating the gradients of B and controlling the B max location. MDU's magnetic force model (5), (17) as…”

Section: Fig 2 Basic Components Of the Magnetic Drive Unit (Mdu)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Micro-Domain Force Estimation Using Hall-Effect Sensors for a Magnetic Microrobotic Station

Mehrtash

Khamesee

2013

JAMDSM

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“…In these reports, the maglev positioning stages are proved to be excellent in positioning accuracy and respond speed, but the small travel range is a shortcoming. Enlarging the stroke of actuator is effective to solve this issue [11][12][13], but the system will suffer from three challenges: actuator, many researchers use the advanced control method [16,17]. Thirdly, to eliminate the strong coupling between each actuator, the wrench-current transforming matrix is constructed to decouple each actuating unit [18].…”

Section: Introductionmentioning

confidence: 99%

Prototype of 6-DOF Magnetically Levitated Stage Based on Single Axis Lorentz force Actuator

Xu¹,

Xu²,

Chen³

2016

Journal of Electrical Engineering and Technology

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-We present a prototype of 6-DOF magnetically levitated stage based on single axis Lorentz force actuator is capable of positioning down to micron in several millimeter travel range with a simple and compact structure. The implementation of the Lorentz force actuators, instrument modeling, and motion controller of the maglev system are described. With the force-gap relationship of the actuator solved by Gaussian quadrature, 2-demsional (2D) lookup table is employed to store the result for the designing of control system. Based on the force-gap relationship, we choose the suitable stroke of each actuator to develop the stability of the maglev stage. Complete decoupling matrix is analyzed here to establish a decoupled dynamics between resulting six axis motion and eight outputs to the actuators. The design travel volume of the stage is 2mm×2mm×2mm in translation and 80mrad× 80mrad×40mrad in rotation. With a constant gain and critical damping PID controller, the resolution of the translation is 2.8um and 4um root mean square in horizontal and vertical direction respectively. Experimental results are presented to illustrate the positioning fluctuations, step responds and multi axis motion. Some comparative tests are taken to highlight the advantage resulted from the accurate force-gap relationship, suitable stroke, and complete decoupling matrix.

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Magnetically Driven Microrobotics for Micromanipulation and Biomedical Applications

Zhang

Khamesee

2016

Advanced Mechatronics and MEMS Devices II

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Bilateral Macro–Micro Teleoperation Using Magnetic Levitation

Cited by 41 publications

References 42 publications

Micro-Domain Force Estimation Using Hall-Effect Sensors for a Magnetic Microrobotic Station

Micro-Domain Force Estimation Using Hall-Effect Sensors for a Magnetic Microrobotic Station

Prototype of 6-DOF Magnetically Levitated Stage Based on Single Axis Lorentz force Actuator

Magnetically Driven Microrobotics for Micromanipulation and Biomedical Applications

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