Haptic feedback in teleoperation in Micro-and Nano-Worlds.

International audienceRobotic systems have been developed to handle very small objects, but their use remains complex and necessitates long-duration training. Simulators, such as molecular simulators, can provide access to large amounts of raw data, but only highly trained users can interpret the results of such systems. Haptic feedback in teleoperation, which provides force-feedback to an operator, appears to be a promising solution for interaction with such systems, as it allows intuitiveness and flexibility. However several issues arise while implementing teleoperation schemes at the micro-nanoscale, owing to complex force-fields that must be transmitted to users, and scaling differences between the haptic device and the manipulated objects. Major advances in such technology have been made in recent years. This chapter reviews the main systems in this area and highlights how some fundamental issues in teleoperation for micro- and nano-scale applications have been addressed. The chapter considers three types of teleoperation, including: (1) direct (manipulation of real objects); (2) virtual (use of simulators); and (3) augmented (combining real robotic systems and simulators). Remaining issues that must be addressed for further advances in teleoperation for micro-nanoworlds are also discussed, including: (1) comprehension of phenomena that dictate very small object (< 500 micrometers) behavior; and (2) design of intuitive 3-D manipulation systems. Design guidelines to realize an intuitive haptic feedback teleoperation system at the micro-nanoscale level are proposed

Non-contact Mesoscale Manipulation Using Laser Induced Convection Flows

Abstract — Laser induced convection flows is a new and promising method to achieve better manipulation of mesoscale objects (above 1 µm and below 500 µm) in a liquid medium. The temperature gradient created by laser absorption generates natural and thermocapillary (or Marangoni) convection flows. These flows are used to perform the manipulation itself. In this paper, we demonstrate for the first time that large and heavy particles can be dragged using the Marangoni convection flows. Experiments based on these phenomena show that fast and accurate underwater micromanipulation of particles up to 280 µm is possible using only a convergent 1 480 nm laser beam. I

Des pinces optiques pour une sensation tactile de la micromanipulation

PARIS-BIUSJ-Biologie recherche (751052107) / SudocSudocFranceF

Haptic Feedback of Piconewton Interactions with Optical Tweezers

Abstract. Haptic feedback for micro- and nanomanipulation is a research area of growing importance with many potential applications in micro- and biotechnology. Past research often involves the coupling of atomic force microscopes to haptic devices, but the results are not satisfactory. We propose to adopt a different approach, which consists of contactless manipulation, in particular by using optical tweezers, coupled with a haptic feedback device. In this article, we describe the potential of such a tool and show with some first experiments of stable interactions between micro-particles. Keywords: coupling. micromanipulation, optical tweezers, haptic feedback, bilateral

Dual Stage Options for Interface Designs Suitable for Haptic Interaction at the Micro-Nano Scales

International audienceDirect, manual interaction with the micro/nano scales is not straightforward because the objects at this scale obey unituitive physics. For instance, in ambient conditions at the micro-scale, capillary forces dominate over many other forces. When the scale becomes smaller, Brow-nian motion becomes pervasive. Haptic interfaces give us the option to bring the experience of this physics with the direct reach of the human sensorimotor capabilities. To cope with the limitations of conventional force feedback devices, we present here two alternative dual-stage designs suitable to address the needs of the interaction with the micro/nano scales. The first one features very low apparent inertia, a large dynamics range and a wide bandwidth. This properties are obtained by coupling a large actuator to a small one via a viscous coupler. Feedback can then be used to achieve nearly perfect transparency. The second is a conventional force feedback device augmented with a tactile transducer. The two channels are frequency compensated to achieved a flat response fro DC to one kHz

Touching the microworld with force-feedback optical tweezers

Optical tweezers are a powerful tool for micromanipulation and measurement of picoNewton sized forces. However, conventional interfaces present difficulties as the user cannot feel the forces involved. We present an interface to optical tweezers, based around a low-cost commercial force feedback device. The different dynamics of the micro-world make intuitive force feedback a challenge. We propose a coupling method using an existing optical tweezers system and discuss stability and transparency. Our system allows the user to perceive real Brownian motion and viscosity, as well as forces exerted during manipulation of objects by a trapped bead