Dexterous teleoperation for micro parts handling based on haptic/visual interface

Operators suffer much difficulty in manipulating micro/nano-sized objects without the assistance of human interfaces, due to the scaling effects in the micro/nano world. The paper presents a dexterous micromanipulation system based on the teleoperation techniques which cope with flexible and complex microassembly tasks. An experimental workcell consisting of a micromanipulator operated under multiple stereo-microscopic vision with the help of a user interface provides a tool that can be used to visualize and manipulate micro-sized 3D objects in a controlled manner. The key features of a micromanipulation system and teleoperation scheme for handling micro objects based on a haptic/visual interface are described. Experimental results demonstrate the feasibility of this system in precisely controlling trapping and manipulation of micro objects based on teleoperation techniques