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IROS
2009
IEEE

2D micro teleoperation with force feedback

10 years 10 days ago
2D micro teleoperation with force feedback
— This paper presents a 2D teleoperation task at microscales with force feedback. At this scale, two major problems arise while performing manipulation tasks: the lack of 3D real time visual feedback, and the difficulty to determine the interaction forces. Therefore, indications must be provided to help the user perform a given task. In this paper, we provide the user with intuitive force feedback, to improve objects’ manipulation using a haptic device. Our platform is composed of a tipless beam manipulator, which is deformed when forces are applied to it. These deformations are measured using a laser. The force information we provide to the user is based on the raw beam’s deformation measurement, and mechanical properties of the probe. It does provide the operator with indications about the interaction forces. This approach is validated by performing lateral and longitudinal rolling operations using microspheres with a radius of 25-micrometers. 2D rolling telemanipulation at mi...
Aude Bolopion, Barthelemy Cagneau, Stephane R&eacu
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Aude Bolopion, Barthelemy Cagneau, Stephane Régnier
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