Feel-microworld - Microrobotic

MICROROBOTICS

The design of the coupling depends on the micromanipulation system. It should be the more transparent : should not filter the information for the command and the sensors. Contact method encounter adhesion phenomena as non-contact are subject to Brownian motion.

Atomic Force Microscope

The micromanipulation team of ISIR has run experiments on AFM setups. The measurement of the force is performed by a common captor: a quadrant measuring the displacement of a laser beam pointing due to deflection of the cantilever. The model to reconstruct the force image is a mechanical beam so that this captor acts like a filter and looses information on mechanical interactions. The range of measurement and the resolution is very limited for this system. And even if it is possible to design a stable coupling for AFM micromanipulation the workspace is small and the transparency of the system is low.

Optical tweezer

The team in collaboration with the CEA laboratory has thus decided to investigate other micromanipulation techniques. More particularly, non contact micromanipulation uses potential models with a large linear domain, they simplify the problematic of transparent coupling and will increase the sensations.

The optical tweezer seems to be a good candidate : it begins to be widespread in biology and physics laboratories, it has many applications especially in nanoworld, it permits easy force measurements of microworld interactions, it has a linear model in most of its 3D workspaces and presents less pull in and pull off effect.

The following link shows that some laboratories are already interested in this field.

From 1999, Fumihito Arai, Tohoku University, Graduate School of Engineering Dept. Bioengineering and Robotics, Japan
Pioneer work on force feedback using a quadrant position detection method, which is precise and quick system. The haptic expertise of this laboratory permit to those papers to be still the better coupling methods and interface designed.


F. Arai, M. Ogawa, T. Mizuno, T. Fukuda, K. Morishima, K. Horio "Teleoperated Laser Manipulator with Dielectrophoretic Assistance for Selective Separation of a Microbe" Proc. IEEE/WJ, Int. Conf. on Intelligent Robots and Systems 1999	F. Arai, M. Ogawa, T. Fukuda "Indirect Manipulation and Bilateral Control of the Microbe by the Laser Manipulated Microtools" Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems

From 2006, Miles Padgett, University of Glasgow, Department of Physics and Astronomy, United Kingdom
The Glasgow laboratory is interested in new interface for a better manipulation. They develop 3D control of bead displacement with a joystick or a finger tracking. Presently, they do not use force feedback interface.


G. Whyte, G. Gibson, J. Leach, Miles J. Padgett "An optical trapped microhand for manipulating micron-sized objects" Optics Express, 14, 25, 12497 (2006)	G. Gibson, L. Barron, F. Beck, G. Whyte, M. J.Padgett "Optically controlled grippers for manipulating micron-sized particles" New Journal of Physics 9, 14 (2007)

From 2006, Büküsoglu and Basdogan, Koc University, College of Engineering, Turkey
An interesting guiding approach. Their studies show the dexterity improvement and the learning capabilities with a virtual field feedback system.


I. Büküsoglu, C. Basdogan, A. Kiraz, A. Kurt "Haptic manipulation of microspheres using optical tweezers" Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems 2006 March 25 - 26, Alexandria, Virginia, USA	C. Basdogan, A. Kiraz, I. Büküsoglu, A. Varol, S. Doganay "Haptic guidance for improved task performance in steering microparticles with optical tweezers" Optics Express, 15, 18, 11616 (2007)	I. Büküsoglu, C. Basdogan, A. Kiraz, A. Kurt "Haptic Manipulation of Microspheres Using Optical Tweezers Under the Guidance of Artificial Force Fields" Presence, Vol. 17, No. 4, August 2008, 344–364

From 2006, van West, Yamamoto and Higuchi, University of Tokyo, School of Engineering, Japan

The concept of haptic for non-contact manipulation is clearly explained. They apply their theory on magnetic micromanipulator

E. van West, Akio Yamamoto, Toshio Higuchi. "The concept of "Haptic Tweezer", a non-contact object handling system using levitation techniques and haptics" Mechatronics 17 (2007) 345–356

From 2007, Sigiura, Nara Institute of Science and Technology, Department of Genomics and Informatics, Japan Their researches are oriented to touch cells.	From 2007, Lee Sigiura, Nanoscale Simulations Laboratory, Gwangju Institute of Science and Technology, Korea They try to handel nanowires with help of force feed-back from computed forces and torques.

T. Sugiura, M. Nakao, T. Sato, K. Minato. "Nanomanipulation and nanotechnology for future diagnostics". Stud Health Technol Inform. 2008;134:135-42.	S.-W. Lee, T. Lee, and Y.-G. Lee. "Stable manipulating of nanowires by line optical tweezers with haptic feedback" Proc. SPIE, Vol. 6644, 66441X (2007)

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S.-W. Lee, T. Lee, and Y.-G. Lee. "Stable manipulating of nanowires by line optical tweezers with haptic feedback" Proc. SPIE, Vol. 6644, 66441X (2007)