A Stable and Transparent Microscale Force Feedback Teleoperation System

Scaled force feedback teleoperation is a promising approach to assist an operator engaged in a microscale task. Several systems were previously described to achieve such purpose, but much room was left for improvement, especially with regard to the specificities of bilateral coupling with very large...

Full description

Saved in:
Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2015-10, Vol.20 (5), p.2593-2603
Main Authors: Mohand Ousaid, Abdenbi, Haliyo, Dogan Sinan, Regnier, Stephane, Hayward, Vincent
Format: Article
Language:English
Subjects:
Actuators
Couplings
Droplets
Engineering Sciences
Feedback
Force
Force measurement
Haptic interfaces
Haptics
Joining
Operators
Passivity
Probes
Stability
Stability criteria
Tasks
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Scaled force feedback teleoperation is a promising approach to assist an operator engaged in a microscale task. Several systems were previously described to achieve such purpose, but much room was left for improvement, especially with regard to the specificities of bilateral coupling with very large scaling coefficients. Here, the objective is to render at human-scale haptic information available at the microscale, and to provide scaled teleoperation that simultaneously achieves stability and transparency. An active force sensor and a novel haptic interface were interconnected to form a complete teleoperation chain through a direct, two-channel scheme. Stability was ensured by enforcing passivity in the slave and in the master subsystems. Several experiments were carried out to demonstrate the capabilities of the system. The first experiment involved noncontact magnetic interaction. A second set of experiments demonstrated the penetration of a thin-glass probe in a water droplet where the operator interactively felt capillary forces.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2015.2423092