DocumentCode :
250162
Title :
Vision-based force sensing of a magnetic microrobot in a viscous flow
Author :
Belharet, Karim ; Folio, David ; Ferreira, Andre
Author_Institution :
Hautes Etudes d´lngenieur campus Centre, PRISME EA, Chateâuroux, France
fYear :
2014
fDate :
May 31 2014-June 7 2014
Firstpage :
2065
Lastpage :
2070
Abstract :
This paper has presented a new vision-based force-sensing framework that allows to characterize the forces applied on a magnetic microrobot in an endovascular-like environment. Especially, unlike common approaches used with optical microscopy where orthographic projection model are used, we consider in this paper the weak-perspective model. The proposed vision-based force characterization allows to retrieve the three dimensional (3D) translational velocities and accelerations of a microrobot viewed from a digital microscope. Hence, thanks to the dynamic model the external forces are estimated on-line. The framework was applied and validated for a magnetic microrobot navigating in a viscous flow. Experimental results in two different environments illustrate the efficiency of the proposed method.
Keywords :
force sensors; medical robotics; microrobots; microsensors; optical microscopy; robot vision; 3D translational accelerations; 3D translational velocities; digital microscope; endovascular-like environment; magnetic microrobot; optical microscopy; orthographic projection model; viscous flow; vision-based force characterization; vision-based force sensing framework; weak-perspective model; Computational modeling; Dynamics; Force; Magnetic resonance imaging; Micromagnetics; Microscopy; Three-dimensional displays;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
Type :
conf
DOI :
10.1109/ICRA.2014.6907133
Filename :
6907133
Link To Document :
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