Cart (Loading....) | Create Account
Close category search window

3D haptic handling of microspheres

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Bolopion, A. ; Inst. des Syst. Intelligents et de Robot., Univ. Pierre et Marie Curie - Paris 6, Paris, France ; Hui Xie ; Haliyo, D.S. ; Regnier, S.

In this paper, a fully teleoperated 3D micro assembly task with haptic feedback is presented. Microspheres (diameter: 4-6μm) are manipulated by pick-and-place. The setup is composed of a dual-tip gripper controlled through a haptic interface. To grasp the spheres, the tips must be correctly positioned with respect to the objects. The approach proposed to align the gripper is based on a user-driven exploration of the to-be-manipulated object. During this step, the haptic feedback is based on amplitude measurements from cantilevers in dynamic mode. Hence, the operator perceives the contact while freely exploring the manipulation area. A virtual guide is generated to pull the user to the optimum contact point, allowing correct positioning of dual tips. For the pick-and-place operation, the haptic feedback provides the user with information about the microscale interactions occurring during the operation. As experimental validation, a two-layer pyramid composed of four nylon microspheres is built in ambient conditions.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010

Need Help?

IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.