Networked telemicromanipulation systems "Haptic Loupe"

Noriaki Ando, Péter Korondi, Hideki Hashimoto

Research output: Contribution to journalArticle

18 Citations (Scopus)

Abstract

In this paper, "Haptic Loupe" telemicromanipulation systems are proposed. We have developed telemicromanipulation systems that enable human operators to perform micro tasks, such as assembly or manufacturing without stress [1]-[4]. These systems are based on a scaled bilateral teleoperation system between different structures. The systems are composed of an original six-degrees-of-freedom (6-DOF) parallel link manipulator to carry out micromanipulation and a 6-DOF haptic interface with force feedback. A parallel mechanism is adopted as a slave micromanipulator because of its good features of accuracy and stiffness. The haptic master interface is developed for micromanipulation systems. Haptic device system modeling and a model reference adaptive controller are implemented to compensate for friction forces, which spoil the free motion performance and force response isotropy of the system. Total system performance as a telemicromanipulator system is evaluated by performing some primitive manipulation tasks in a teleoperation experiment. Experimental results are presented and discussed.

Original languageEnglish
Pages (from-to)1259-1271
Number of pages13
JournalIEEE Transactions on Industrial Electronics
Volume51
Issue number6
DOIs
Publication statusPublished - Dec 2004

Keywords

  • Haptic interface
  • Micromanipulation
  • Networked teleoperation
  • Parallel mechanism

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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