Title :
Dexterous teleoperation for micro parts handling based on haptic/visual interface
Author :
Kim, Deok-No ; Kim, Kyunghwan ; Kim, Keun-Young ; Cha, Sang-Min
Author_Institution :
Microsystem Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
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
Keywords :
CCD image sensors; dexterous manipulators; flexible manipulators; graphical user interfaces; haptic interfaces; microassembling; micromanipulators; micropositioning; microsensors; object recognition; path planning; stereo image processing; telerobotics; 3D objects; dexterous micro manipulation system; dexterous teleoperation; haptic interface; micro objects; micro parts handling; microassembly tasks; multiple stereo-microscopic vision; nanosized objects; visual interface; Assembly systems; Control systems; Electrical equipment industry; Force control; Haptic interfaces; Humans; Microassembly; Micromanipulators; Physics; User interfaces;
Conference_Titel :
Micromechatronics and Human Science, 2001. MHS 2001. Proceedings of 2001 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-7190-9
DOI :
10.1109/MHS.2001.965247
