NDLI: Human-assisted virtual reality for a magnetic-haptic micromanipulation platform

Content Provider	Springer Nature Link
Author	Mehrtash, Moein Khamesee, Mir Behrad Tarao, Susumu Tsuda, Naoaki Chang, Jen Yuan
Copyright Year	2012
Abstract	This paper deals with the development of a virtual reality interface (VRI) for a magnetic-haptic micromanipulation platform (MHMP) (Mehrtash et al. in IEEE/ASME Trans Mechatron 16(3):459–469, 2011). Our previously developed MHMP has shown a great deal of promise in non-contact micromanipulations. This micromanipulation platform concerns the integration of magnetic actuation technology and a bilateral macro–micro teleoperation. The MHMP has two separate stations: one magnetic microrobotic station and one haptic. The magnetic microrobotic station manipulates micro-sized objects based on the commands from the haptic station. The haptic station uses bilateral communication with the magnetic microrobotic station to allow a human operator the feeling of a micro-domain environment. In this paper, we report a VRI that enables human operators to improve their skills in using the MHMP, before carrying out an actual dexterous task. The VRI is made up of three main components: a haptic station, a simulation engine, and a display unit. The haptic station provides the operator with the force/torque information from virtual or remote environments, and is also used to recognize the operator’s hand motion command. Dynamical computation and control system modeling have been carried out on the simulation engine. Based on the real-time computation, this engine, as the heart of the system, provides force applied to the operator’s hand and the microrobot’s position for the haptic station and the display unit, respectively. The display unit employs 3D computer graphics to demonstrate the micromanipulation tasks and environments. The VRI is also developed in such a way that it can be separately used in parallel with the MHMP for the 3D visualization of a real task by providing multiple virtual viewports. This paper introduces the configuration of the proposed VRI, and reports the result of a preliminary experiment using micromanipulation investigation for validation.
Starting Page	1407
Ending Page	1415
Page Count	9
File Format	PDF
ISSN	09467076
Journal	Microsystem Technologies
Volume Number	18
Issue Number	9-10
e-ISSN	14321858
Language	English
Publisher	Springer-Verlag
Publisher Date	2012-06-15
Publisher Place	Berlin, Heidelberg
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Mechanical Engineering Electronics and Microelectronics, Instrumentation Nanotechnology
Content Type	Text
Resource Type	Article
Subject	Nanoscience and Nanotechnology Condensed Matter Physics Electronic, Optical and Magnetic Materials Electrical and Electronic Engineering Hardware and Architecture

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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
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