Dexterous teleoperation for micro parts handling based on haptic/Nisual interface

Deok No Kim, Kyunghwan Kim, Keun Young Kim, Sang Min Cha

Research output: Chapter in Book/Report/Conference proceedingConference contribution

25 Scopus citations

Abstract

Operators suffer much difficulty in manipulating microlnanosized objects without the assistance of human interfaces, due to the scaling effects in microlnano world. This paper presents a dexterous micro manipulation system based on the teleoperation techniques which cope with flexible and complex microassembly tasks. An experimental workcell consisting of a micromanipulator operated under multiple stereo-microscopic vision with the help of user interface provides a tool that can be used to visualize and manipulate micro-sized 3D objects in a controlled manner. The key features of a micromanipulation system and teleoperation scheme for handling micro objects based on haptic/visual interface are described. Experimental results demonstrate the feasibility of this system in precisely controlling trapping and manipulation of micro objects based on teleoperation techniques.

Original languageEnglish (US)
Title of host publicationMHS 2001 - Proceedings of 2001 International Symposium on Micromechatronics and Human Science
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages211-217
Number of pages7
ISBN (Electronic)0780371909, 9780780371903
DOIs
StatePublished - 2001
Externally publishedYes
EventInternational Symposium on Micromechatronics and Human Science, MHS 2001 - Nagoya, Japan
Duration: Sep 9 2001Sep 12 2001

Publication series

NameMHS 2001 - Proceedings of 2001 International Symposium on Micromechatronics and Human Science

Conference

ConferenceInternational Symposium on Micromechatronics and Human Science, MHS 2001
Country/TerritoryJapan
CityNagoya
Period9/9/019/12/01

ASJC Scopus subject areas

  • Mechanical Engineering
  • Electrical and Electronic Engineering
  • Social Sciences (miscellaneous)
  • Anthropology

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