Evaluation of an electromagnetic system with haptic feedback for control of untethered, soft grippers affected by disturbances

Ongaro, Federico; Pacchierotti, Claudio; Yoon, ChangKyu; Prattichizzo, Domenico; Gracias, David H.; Misra, Sarthak

doi:10.1109/biorob.2016.7523742

Cited by 18 publications

(14 citation statements)

References 38 publications

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“…The validation is performed along a grid of 10 × 10 × 10 points spaced through the 35 × 35 × 35 mm 3 workspace. In line with previous literature, we find the measured and simulated field values to be congruous with the exception of a scaling factor [24], [26].…”

Section: Force To Current Mapsupporting

confidence: 91%

Design of an Electromagnetic Setup for Independent Three-Dimensional Control of Pairs of Identical and Nonidentical Microrobots

et al. 2019

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Independent control of microrobots is a cardinal challenge for manipulation at micro/nano scale. In this paper, we design and assemble an electromagnetic setup to overcome some of the major obstacles in the independent control of microrobots. The demanding magnetic requirements are met by the presented experimental testbed that is able to produce magnetic fields and gradients of, respectively, 160 mT and 3.6 T/m at the center of the workspace. Through the design process of this testbed, we analyze the importance of design parameters and derive a quantitative analysis of the requirements for the dissipation of the generated heat. Further, we present and develop the model and software infrastructure, capable of running at 25 Hz, necessary for independent control of multiple microrobots. We also introduce two novel techniques for current-minimizing mapping of the desired forces into currents at the electromagnet. Finally, the capabilities of the setup are demonstrated through independent control of two, both identical and nonidentical, soft-magnetic microspheres in three-dimensional space-with average root mean square errors of 102 µm and peak velocities of up to 331 µm/s.

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Section: Force To Current Mapsupporting

confidence: 91%

Design of an Electromagnetic Setup for Independent Three-Dimensional Control of Pairs of Identical and Nonidentical Microrobots

et al. 2019

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“…They provided the human operator with vibrotactile feedback to render navigation cues and kinesthetic feedback to reproduce the mechanical properties of the tissue being penetrated. Similarly, Pacchierotti et al [24], [25] presented a teleoperation system for controlling the motion of magnetic microgrippers. It provides operators with navigation and interaction information through kinesthetic and vibrotactile feedback, respectively.…”

Section: Haptic Shared Controlmentioning

confidence: 99%

A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping

Abi-Farraj

Pacchierotti

Arenz

et al. 2020

IEEE Trans. Haptics

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Although robotic telemanipulation has always been a key technology for the nuclear industry, little advancement has been seen over the last decades. Despite complex remote handling requirements, simple mechanically-linked master-slave manipulators still dominate the field. Nonetheless, there is a pressing need for more effective robotic solutions able to significantly speed up the decommissioning of legacy radioactive waste. This paper describes a novel haptic shared-control approach for assisting a human operator in the sort and segregation of different objects in a cluttered and unknown environment. A 3D scan of the scene is used to generate a set of potential grasp candidates on the objects at hand. These grasp candidates are then used to generate guiding haptic cues, which assist the operator in approaching and grasping the objects. The haptic feedback is designed to be smooth and continuous as the user switches from a grasp candidate to the next one, or from one object to another one, avoiding any discontinuity or abrupt changes. To validate our approach, we carried out two human-subject studies, enrolling 15 participants. We registered an average improvement of 20.8%, 20.1%, 32.5% in terms of completion time, linear trajectory, and perceived effectiveness, respectively, between the proposed approach and standard teleoperation.

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“…Furthermore, we assume -as is often the case in the literature [13], [20], [21] -to have field measurements from a grid of s×r×u points. Consequently, it is possible to rearrange such measurements to obtain a matrix (D ∈ R s * r * u×3 ) such that…”

Section: Tensor Product B-splines For Magnetic 3d Mappingmentioning

confidence: 99%

Precise Model-Free Spline-Based Approach for Magnetic Field Mapping

2019

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Untethered magnetic manipulation has found applications in a rapidly increasing number of fields, ranging from minimally invasive surgery to assembly of industrial micro electromechanical systems. Despite this relevance, present-day literature on precise magnetic mapping is sparse, especially for magnetic fields affected by external disturbances. In this work, we address this deficiency by introducing a model-free mapping technique. Remarkably, the presented spline-based approach is capable of addressing the presence of inhomogeneous static disturbances and the mapping of non-azimuthally symmetric electromagnets. The work is validated with the mapping of nine metal-core electromagnets in the presence of inhomogeneous static disturbances. A grid of 5120 measurements is collected, by a custom-programed robotic arm, and used for mapping. Further, the values predicted by the approach are compared against 3430 independent field measurements, obtaining an R 2 value of 0.9884 and maximum relative errors of 7%. Overall, this spline-based approach provides a flexible technique for the precise mapping of electromagnetic fields and gradients even when, for reasons regarding coil-shape or disturbances, the electromagnetic field does not present any axial symmetry.

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Evaluation of an electromagnetic system with haptic feedback for control of untethered, soft grippers affected by disturbances

Cited by 18 publications

References 38 publications

Design of an Electromagnetic Setup for Independent Three-Dimensional Control of Pairs of Identical and Nonidentical Microrobots

Design of an Electromagnetic Setup for Independent Three-Dimensional Control of Pairs of Identical and Nonidentical Microrobots

A Haptic Shared-Control Architecture for Guided Multi-Target Robotic Grasping

Precise Model-Free Spline-Based Approach for Magnetic Field Mapping

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