A physically-based haptic rendering for telemanipulation with visual information: Macro and micro applications

This paper presents a haptic rendering technique for a telemanipulation system of deformable objects using image processing techniques and physically based modeling. The interaction forces between an instrument driven by a haptic device and a deformable object are inferred in real time based on a continuum mechanics model of the object, which consists of a boundary element model and a prior knowledge of the objectpsilas mechanical properties. These models allow users to feel reaction forces during manipulation tasks through a haptic device. Macro- and micro-scale experimental systems, equipped with a telemanipulation system and a commercial haptic display, were developed and tested using silicone (macro-scale) and zebrafish embryos (micro-scale). The developed algorithm can be used with a needle operation robot or a cellular injection system.