Development of a Human-Robot-Shared Controlled Teletweezing System

This brief proposes a process of implementing a teletweezing system using multiple slaves for deformable object manipulation such as bio tweezing tasks. The multiple slave feature is desirable to improve both the manipulation dexterity and stable grasping force control capability. A flexible multiple robot connection environment is assured in a very quick and easy manner using an RT-Middleware platform. In this brief, we propose the control strategy for a single-master multislave telemicrotweezer. Also, several simulations and experiments are performed to prove the validity of the proposed control scheme and the design methodology. These involve biomanipulation tasks such as Ikura (salmon roe) tweezing, which is a magnified version of a wide variety of bio-cell tweezing. To realize the Ikura remote tweezing using a single-master multislave system and a human's dexterous operation skill, we first decompose the dynamics of multiple slaves into two decoupled systems, which are the shape system describing cooperative tweezing aspect and the locked system that preserves energetic passivity. Scattering-based communication is used to passify the master-slave communication delay. Last, a preliminary pick-and-place experiment and some simulation results are provided to verify the validity of the proposed control method.