Aude Bolopion

2D micro teleoperation with force feedback

This paper presents a 2D teleoperation task at microscales with force feedback. At this scale, two major problems arise while performing manipulation tasks: the lack of 3D real time visual feedback, and the difficulty to determine the interaction forces. Therefore, indications must be provided to help the user perform a given task. In this paper, we provide the user with intuitive force feedback, to improve objects manipulation using a haptic device. Our platform is composed of a tipless beam manipulator, which is deformed when forces are applied to it. These deformations are measured using a laser. The force information we provide to the user is based on the raw beams deformation measurement, and mechanical properties of the probe. It does provide the operator with indications about the interaction forces. This approach is validated by performing lateral and longitudinal rolling operations using microspheres with a radius of 25-micrometers. 2D rolling telemanipulation at microscale with force feedback is successfully demonstrated.

Remote microscale teleoperation through virtual reality and haptic feedback

This paper reports the remote handling of microscale objects, between two sites approximately 630 km distant. To manipulate objects less than 10 µm, specific equipments such as AFM (Atomic Force Microscope) cantilevers integrated into a SEM (Scanning Electron Microscope) are generally required. Enabling remote access to such a system would benefit any micro/nanoresearcher. However, vision feedback and sensor data of a micromanipulation system are generally limited, hence the implementation of a teleoperation scenario is not straightforward. Specific tools are proposed here for an intuitive manipulation in a wide range of applications. To ensure ease of manipulation, both a 3D virtual representation of the scene and haptic feedback are provided. Force sensor feedback is limited since only two measures are available. In order to extend this information, vision algorithms are developed to estimate the respective positions of the tool and objects, which are then used to calculate the haptic feedback. The stability of the overall scheme is very sensitive to time delays. This requirement is taken into account in vision algorithms and the communication module which transfers the data between the two remote sites. In addition, the proposed robotic control architecture is modular so that the platform can be used for a wide range of applications. First results are obtained on a teleoperation between Paris, France, and Oldenburg, Germany.

Vision-Based Haptic Feedback for Remote Micromanipulation in–SEM Environment

This article presents an intuitive environment for remote micromanipulation composed of both haptic feedback and virtual reconstruction of the scene. To enable nonexpert users to perform complex teleoperated micromanipulation tasks, it is of utmost importance to provide them with information about the 3-D relative positions of the objects and the tools. Haptic feedback is an intuitive way to transmit such information. Since position sensors are not available at this scale, visual feedback is used to derive information about the scene. In this work, three different techniques are implemented, evaluated, and compared to derive the object positions from scanning electron microscope images. The modified correlation matching with generated template algorithm is accurate and provides reliable detection of objects. To track the tool, a marker-based approach is chosen since fast detection is required for stable haptic feedback. Information derived from these algorithms is used to propose an intuitive remote manipulation system that enables users situated in geographically distant sites to benefit from specific equipments, such as SEMs. Stability of the haptic feedback is ensured by the minimization of the delays, the computational efficiency of vision algorithms, and the proper tuning of the haptic coupling. Virtual guides are proposed to avoid any involuntary collisions between the tool and the objects. This approach is validated by a teleoperation involving melamine microspheres with a diameter of less than 2 μ m between Paris, France and Oldenburg, Germany.

Comparing position and force control for interactive molecular simulators with haptic feedback

This paper presents a novel tool for the analysis of new molecular structures which enables a wide variety of manipulations. It is composed of a molecular simulator and a haptic device. The simulation software deals with systems of hundreds or thousands of degrees of freedom and computes the reconfiguration of the molecules in a few tenths of a second. For the ease of manipulation and to help the operator understand nanoscale phenomena, a haptic device is connected to the simulator. To handle a wide variety of applications, both position and force control are implemented. To our knowledge, this is the first time the applications of force control are detailed for molecular simulation. These two control modes are compared in terms of adequacy with molecular dynamics, transparency and stability sensitivity with respect to environmental conditions. Based on their specificity the operations they can realize are detailed. Experiments highlight the usability of our tool for the different steps of the analysis of molecular structures. It includes the global reconfiguration of a molecular system, the measurement of molecular properties and the comprehension of nanoscale interactions. Compared to most existing systems, the one developed in this paper offers a wide range of possible experiments. The detailed analysis of the properties of the control modes can be easily used to implement haptic feedback on other molecular simulators.

Closed-Loop Control of a Magnetic Particle at the Air–Liquid Interface

One of the greatest challenges in microrobotics is the development of robotic devices for high-speed transportation and precise positioning of microcomponents. This paper proposes to use non contact magnetic actuation in which objects are placed at the air/liquid interface and are actuated through magnetic field gradients. A physical model is developed and identified to perform closed-loop control. This approach is validated through several experiments in 1-D. Precise positioning and high-speed trajectory tracking of objects smaller than 100<formula formulatype=inline><tex Notation=TeX>

Modeling and experiments of high speed magnetic micromanipulation at the air/liquid interface

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3D haptic handling of microspheres

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Tuning the gains of haptic couplings to improve force feedback stability in nanorobotics

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Variable gain haptic coupling for molecular simulation

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Haptic feedback for molecular simulation

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