Title :
Development of a scaled teleoperation system for nano scale interaction and manipulation
Author :
Sitti, Metin ; Aruk, Baris ; Shintani, Hiroaki ; Hashimoto, Hideki
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
A human-machine interface is proposed for teleoperated nano scale object interaction and manipulation. Design specifications for a bilateral scaled teleoperation system with slave and master robots, sensors, actuators, and control are discussed. Phantom and home-made haptic devices are utilized as the master manipulator, and a piezoresistive MEMS fabricated probe is selected as the slave manipulator, and topology and force sensor. A force reflecting servo type teleoperation control is chosen, and initial experiments are realized for interacting with silicon surfaces and nano structures. It is shown that fine structures can be felt on the operator´s finger successfully.
Keywords :
atomic force microscopy; force sensors; haptic interfaces; microactuators; micromanipulators; nanotechnology; piezoelectric actuators; robot vision; servomechanisms; telerobotics; fine structures; force reflecting servo type teleoperation control; haptic devices; human-machine interface; master robot; nano scale interaction; nano scale manipulation; nano structures; piezoresistive MEMS fabricated probe; scaled teleoperation system; silicon surfaces; slave robot; Actuators; Control systems; Force sensors; Haptic interfaces; Imaging phantoms; Man machine systems; Manipulators; Master-slave; Robot sensing systems; Sensor systems;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932658
