A Handheld Master Device for 3D Remote Micro-Manipulation
| Autor: | Sophia Sakr, Thomas Daunizeau, Sinan Haliyo, David Reversat, Stephane Regnier |
|---|---|
| Přispěvatelé: | Institut des Systèmes Intelligents et de Robotique (ISIR), Sorbonne Université (SU)-Centre National de la Recherche Scientifique (CNRS), Centre de Recherche en Cancérologie de Lyon (UNICANCER/CRCL), Centre Léon Bérard [Lyon]-Université Claude Bernard Lyon 1 (UCBL), Université de Lyon-Université de Lyon-Institut National de la Santé et de la Recherche Médicale (INSERM)-Centre National de la Recherche Scientifique (CNRS), Haliyo, Sinan |
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
Computer science business.industry 05 social sciences GRASP Tracking system 02 engineering and technology Automation [SPI.AUTO]Engineering Sciences [physics]/Automatic [SPI.AUTO] Engineering Sciences [physics]/Automatic 020901 industrial engineering & automation Joystick Teleoperation Tweezers 0501 psychology and cognitive sciences business Mobile device 050107 human factors Computer hardware ComputingMilieux_MISCELLANEOUS Haptic technology |
| Zdroj: | 2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS) 2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), Jul 2018, Nagoya, France. pp.1-6, ⟨10.1109/MARSS.2018.8481194⟩ 2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS 2018) 2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS 2018), Jul 2018, Nagoya, Japan. ⟨10.1109/MARSS.2018.8481194⟩ |
| Popis: | International audience; Micro-assembly has always been a substantial issue for automation: micro-objects are difficult to grasp due to micro-world physical laws and a lack of adapted sensors. Therefore, many tasks are teleoperated using a nonintuitive device as joystick or button. This paper proposes a fresh remote handling solution to fill that need. A new 1-DOF master device which mimics a tweezers is brought to the fore: it is an instrumented haptic tweezers, handheld, allowing a high intuitiveness for the user. This master device, coupled with a tracking system, controls a micro-positioner and a micro-gripper. Different coupling strategies using position or speed variables are demonstrated. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|