Title :
A Hybrid Force-Position Controller based Man-Machine Interface for Manipulation of Micro Objects
Author :
Khan, Shahzad ; Nergiz, Ahmet Ozcan ; Elitas, Meltem ; Patoglu, Volkan ; Sabanovic, Asif
Author_Institution :
Sabanci Univ., Istanbul
Abstract :
A hybrid force-position controller based man-machine interface for manipulation of micro objects through pushing with a micro cantilever is presented. Visual feedback is employed to detect position and orientation of a micro particle and a piezoresistive AFM cantilever is automatically positioned to align the line of action of interaction forces in a way that will ensure the particle to track a desired trajectory. Control of the interaction force is delegated to a human operator through scaled bilateral teleoperation. A custom tele-micromanipulation setup is built for testing and preliminary experiments of controlled pushing to achieve pure translational motion of rectangular micro objects are implemented.
Keywords :
cantilevers; force control; man-machine systems; micromanipulators; position control; telerobotics; automatic positioning; controlled pushing; human operator; hybrid force-position controller; interaction force; man-machine interface; microcantilever; microobject manipulation; microparticle orientation detection; microparticle position detection; piezoresistive AFM cantilever; rectangular microobjects; scaled bilateral teleoperation; telemicromanipulation; translational motion; visual feedback; Atomic force microscopy; Automatic control; Force control; Force feedback; Humans; Particle tracking; Piezoresistance; Testing; Trajectory; User interfaces;
Conference_Titel :
Micro-NanoMechatronics and Human Science, 2007. MHS '07. International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
978-1-4244-1858-9
Electronic_ISBN :
978-1-4244-1858-9
DOI :
10.1109/MHS.2007.4420827
