Delta Haptic Device as a nanomanipulator

Grange, S.; Conti, F.; Helmer, Patrick; Rouiller, P.; Baur, Charles

doi:10.1117/12.444117

Cited by 24 publications

(13 citation statements)

References 9 publications

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“…Whereas most sensory substitution devices such as tactile aids for the hearing impaired are position displays [9,10] (and therefore it makes sense to specify thresholds in displacements), almost all haptic interfaces for teleoperation and virtual environments are force displays [11,12] (and we are not aware of any data on force threshold except for a previous study of our own [13]). In the present study, we measured both acceleration and force data at human detection threshold levels and studied their relationship.…”

Section: Introductionmentioning

confidence: 99%

Detection Threshold and Mechanical Impedance of the Hand in a Pen-Hold Posture

Israr

Choi

Tan

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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-We report position and force detection thresholds for sinusoidal waveforms in the frequency range 10-500 Hz delivered through a stylus. The participants were required to hold the stylus in a way similar to that of holding the stylus of a force-feedback device. A minishaker moved the stylus along its length so that the majority of vibrations were presented tangentially to the skin of the hand. The measured position thresholds decreased initially with an increasing stimulus frequency and formed a U-shaped curve in the high frequency region. The thresholds of high frequency vibrations were lower than those reported previously for vibrations that were perpendicular to the skin, but were similar to the thresholds reported earlier using vibrations that were tangential to the skin. A similar force threshold curve was obtained using a force sensor attached to one end of the stylus. Mechanical impedance of the skin derived from velocity estimates and force measurements indicated that the skin and tissues in the hand holding the stylus can be modeled with mass-, damper-and spring-like elements. A comparison of the mechanical impedance from the present study with those reported previously showed similar results for vibrations delivered in the tangential and normal directions to the skin.

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Section: Introductionmentioning

confidence: 99%

Detection Threshold and Mechanical Impedance of the Hand in a Pen-Hold Posture

Israr

Choi

Tan

2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The second strategy is the velocity control, in which the deflection of the joystick dictates a velocity of the teleoperator (Grange, Conti, Helmer, Rouiller, & Baur, 2001). The further the joystick is deflected (P joy ) from the initial position (P joy i ), the greater the velocity of the teleoperator.…”

Section: Experiments B: Effect Of Guidance Control Strategymentioning

confidence: 99%

Telepresence in Industrial Applications: Implementation Issues for Assembly Tasks

Radi

Nitsch

2010

Presence: Teleoperators and Virtual Environments

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In contrast to automated production, human intelligence is deemed necessary for successful execution of assembly tasks that are difficult or expensive to automate in small and medium lots. However, human ability is hindered in some cases by physical barriers such as miniaturization or in contrast, very heavy components. Telepresence technology can be considered a solution for performing a wide variety of assembly tasks where human intelligence and haptic sense are needed. This work highlights several issues involved in deploying industrial telepresence systems to manipulate and assemble microparts as well as heavy objects. Two sets of experiments are conducted to investigate telepresence related aspects in an industrial setting. The first experiment evaluates the usefulness of haptic feedback for a human operator in a standard pick-and-place task. Three operation modes were considered: visual feedback, force feedback, and force assistance (realized as vibration). In the second experiment, two different guidance strategies for the teleoperator were tested. The comparison between a position and a velocity scheme in terms of task completion time and subjective preferences is presented.

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“…The micromanipulation setup is composed of an AFM manipulator integrated in a scanning electron microscope (SEM). The master teleoperation system is composed of an Omega.3 haptic interface and a virtual reality room (Grange et al, 2001). The system was validated in an approach-retract teleoperation experiment between Paris, France, and Oldenburg, Germany.…”

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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Delta Haptic Device as a nanomanipulator

Cited by 24 publications

References 9 publications

Detection Threshold and Mechanical Impedance of the Hand in a Pen-Hold Posture

Detection Threshold and Mechanical Impedance of the Hand in a Pen-Hold Posture

Telepresence in Industrial Applications: Implementation Issues for Assembly Tasks

Haptic Feedback for Microrobotics Applications: A Review

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