Stiffness perception during pinching and dissection with teleoperated haptic forceps

Ng, Canaan; Zareinia, Kourosh; Sun, Qiao; Kuchenbecker, Katherine J.

doi:10.1109/roman.2017.8172342

Cited by 5 publications

(1 citation statement)

References 15 publications

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“…However, it is designed as an extension to a grounded haptic device [13]. Tweezers with voice-coils are also explored [14], [15] but this particular actuation exhibits some limitations, especially in heat dissipation.…”

Section: Introductionmentioning

confidence: 99%

A Handheld Master Device for 3D Remote Micro-Manipulation

Sakr

Daunizeau

Reversat

et al. 2018

2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

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Microassembly of submillimetric objects is still a manual process in most industries. Manufacture of MOEMS (Micro-Optical-Electrical-Mechanical System) based sensors, or watchmaking and even micro-surgery relies very heavily on the motor skills of an operator handling specialized tools. We propose here a preliminary work on bilateral coupling between a macro-tweezers and a micro-tweezers using a user interface for a microrobotic system which ambitions to combine the precision of the robot with the expertise of the craftsman. It strives to hide the scale-change between the microcomponents and the user's workbench, by providing a scaled-up tabletop image of the robot's sample-holder, co-located with a hand-held tool. This active tweezers mimics the traditional tool in form and function, albeit augmented with feedback. Its motions are tracked to drive the microgripper. Users may hence directly pick-up a micro-object from the image, while feeling the grasp of the microgripper on their fingers.

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Section: Introductionmentioning

confidence: 99%