Suck-and-blow master-slave system for micro-manipulation based on body image embedding

In this paper, we propose a novel master-slave system for micro-manipulation of the mechanical contact type. In the proposed system, suck and blow movements in the master side are scaled and transmitted to the slave side, i.e., we generate the air flow at the tip of the micro-straw in the slave side according to operator's suck and blow in the master side. The air flows by operator's suck and blow are detected by a series of two flow sensors opposite in direction each other. The output air flow at the micro-straw is controlled by switching a series of two solenoid valves whose three inputs are connected to an air compressor, a vacuum pump, and the atmosphere respectively. The switching law is calculated based on the data from the flow sensors. Moreover, by vibrating the straw at an operator's mouth according to the detected contact between the micro-straw and a micro-object, we also expect immersive feel as if the operator sucks or blows the micro-object directly with the straw. The suck-and-blow master-slave system proposed here is compatible with the master-slave system based on the body image embedding the authors proposed previously. By combining the two systems, we expect to realize the rapid pick-and-place in a micro-world. We show some results on very basic experiments, i.e., measurement of air flows by operator's suck and blow, and picking a micro-particle by suction, to prove the potential of the proposed micro-manipulation system.