By Topic

Asynchronous Event-Based Visual Shape Tracking for Stable Haptic Feedback in Microrobotics

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
$33 $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

5 Author(s)
Zhenjiang Ni ; Institut des Systèmes Intelligents et de Robotique, Université Pierre et Marie Curie, 75005 Paris, France ; Aude Bolopion ; Joël Agnus ; Ryad Benosman
more authors

Micromanipulation systems have recently been receiving increased attention. Teleoperated or automated micromanipulation is a challenging task due to the need for high-frequency position or force feedback to guarantee stability. In addition, the integration of sensors within micromanipulation platforms is complex. Vision is a commonly used solution for sensing; unfortunately, the update rate of the frame-based acquisition process of current available cameras cannot ensure-at reasonable costs-stable automated or teleoperated control at the microscale level, where low inertia produces highly unreachable dynamic phenomena. This paper presents a novel vision-based microrobotic system combining both an asynchronous address event representation silicon retina and a conventional frame-based camera. Unlike frame-based cameras, recent artificial retinas transmit their outputs as a continuous stream of asynchronous temporal events in a manner similar to the output cells of a biological retina, enabling high update rates. This paper introduces an event-based iterative closest point algorithm to track a microgripper's position at a frequency of 4 kHz. The temporal precision of the asynchronous silicon retina is used to provide a haptic feedback to assist users during manipulation tasks, whereas the frame-based camera is used to retrieve the position of the object that must be manipulated. This paper presents the results of an experiment on teleoperating a sphere of diameter around 50 μm using a piezoelectric gripper in a pick-and-place task.

Published in:

IEEE Transactions on Robotics  (Volume:28 ,  Issue: 5 )