NDLI: Dexterous teleoperation for micro parts handling based on haptic/visual interface

Content Provider	IEEE Xplore Digital Library
Author	Deok-Ho Kim Kyunghwan Kim Keun-Young Kim Sang-Min Cha
Copyright Year	2001
Description	Author affiliation: Microsystem Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea (Deok-Ho Kim)
Abstract	Operators suffer much difficulty in manipulating micro/nano-sized objects without the assistance of human interfaces, due to the scaling effects in the micro/nano world. The paper presents a dexterous micromanipulation system based on the teleoperation techniques which cope with flexible and complex microassembly tasks. An experimental workcell consisting of a micromanipulator operated under multiple stereo-microscopic vision with the help of a user interface provides a tool that can be used to visualize and manipulate micro-sized 3D objects in a controlled manner. The key features of a micromanipulation system and teleoperation scheme for handling micro objects based on a haptic/visual interface are described. Experimental results demonstrate the feasibility of this system in precisely controlling trapping and manipulation of micro objects based on teleoperation techniques.
Sponsorship	City of Nagoya
Starting Page	211
Ending Page	217
File Size	899770
Page Count	7
File Format	PDF
ISBN	0780371909
DOI	10.1109/MHS.2001.965247
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-09-09
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Microassembly Humans Micromanipulators Force control User interfaces Control systems Electrical equipment industry Assembly systems Physics
Content Type	Text
Resource Type	Article

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