Involving the operator in the control strategy for intelligent tele-micromanipulation

This paper deals with the sharing of multi-level task-based control between a human operator and the micromanipulation system. Formulation of mathematical decision functions (shared, traded, priority, cooperation) are derived for integration in a supervisory control strategy. Applications to typical pick-and-place tasks are analysed and experimented. Human integration in the robot control results in increasing the precision of microrobotic tasks, online intervention for safety and reliability of the system, and finally, improves the dexterity capabilities of the operator during tele-micromanipulation.