NDLI: 3D haptic handling of microspheres

Content Provider	IEEE Xplore Digital Library
Author	Bolopion, A. Hui Xie Haliyo, D.S. Regnier, S.
Copyright Year	2010
Description	Author affiliation: Institut des Systèmes Intelligents et de Robotique, Université Pierre et Marie Curie - Paris 6, CNRS UMR 7222, 4 Place Jussieu, 75005, France (Bolopion, A.; Hui Xie; Haliyo, D.S.; Regnier, S.)
Abstract	In this paper, a fully teleoperated 3D micro assembly task with haptic feedback is presented. Microspheres (diameter: 4–6µm) are manipulated by pick-and-place. The setup is composed of a dual-tip gripper controlled through a haptic interface. To grasp the spheres, the tips must be correctly positioned with respect to the objects. The approach proposed to align the gripper is based on a user-driven exploration of the tobe-manipulated object. During this step, the haptic feedback is based on amplitude measurements from cantilevers in dynamic mode. Hence, the operator perceives the contact while freely exploring the manipulation area. A virtual guide is generated to pull the user to the optimum contact point, allowing correct positioning of dual tips. For the pick-and-place operation, the haptic feedback provides the user with information about the microscale interactions occurring during the operation. As experimental validation, a two-layer pyramid composed of four nylon microspheres is built in ambient conditions.
Starting Page	6131
Ending Page	6136
File Size	1803040
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650443
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Force Force measurement Substrates Probes Grippers Three dimensional displays
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Finger pad force display for hand haptic interface

Human-operated 3D micro-manipulator with haptic feedback

Haptic based optimized path planning approach to virtual maintenance assembly / disassembly (MAD)

Haptic navigation along filiform neural structures

Combining vibrotactile and kinaesthetic cues in haptic volume visualization

TouchMover 2.0 - 3D touchscreen with force feedback and haptic texture

Hand haptic interface incorporating 1D finger pad and 3D fingertip force display devices

Improvement of collaborative selection in 3D complex environments

Intuition-driven monitor: a monitor device driven by user's haptic manipulation

3D haptic handling of microspheres

Similar Documents

Finger pad force display for hand haptic interface

Human-operated 3D micro-manipulator with haptic feedback

Haptic based optimized path planning approach to virtual maintenance assembly / disassembly (MAD)

Haptic navigation along filiform neural structures

Combining vibrotactile and kinaesthetic cues in haptic volume visualization

TouchMover 2.0 - 3D touchscreen with force feedback and haptic texture

Hand haptic interface incorporating 1D finger pad and 3D fingertip force display devices

Improvement of collaborative selection in 3D complex environments

Intuition-driven monitor: a monitor device driven by user's haptic manipulation

3D haptic handling of microspheres