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On the contribution of adhesion and friction in planning dexterous in-hand micromanipulation

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Abstract

Micromanipulation and micro-assembly techniques play a key role in the development of new integrated smart systems with applications in strategic fields such as transport, telecommunication, health and defense. However, existing micro-handling solutions lack speed, flexibility and autonomy, which represents an obstacle to the development of these technologies. In previous works, we developed and validated new micro-manipulation techniques using dexterous multi-fingered micro-hands as well as a trajectory planner to automate the manipulation process. The present paper focuses on studying the influence of friction coefficient and adhesion forces at the micro-scale on the fingers’ trajectories.

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Acknowledgements

This work was supported by ACTION, the French ANR Labex no. “ANR-11-LABX-01-01”, by the Equipex ROBOTEX project (contract “ANR-10-EQPX-44-01”) and by the Conseil Régional de Franche-Comté.

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  1. FEMTO-ST Institute, University of Bourgogne Franche-Comté, CNRS, 24 rue Savary, 25000, Besançon, France

    Jean-Antoine Seon, Redwan Dahmouche & Michaël Gauthier

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  1. Jean-Antoine Seon
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  2. Redwan Dahmouche
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  3. Michaël Gauthier
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Correspondence to Jean-Antoine Seon.

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Seon, JA., Dahmouche, R. & Gauthier, M. On the contribution of adhesion and friction in planning dexterous in-hand micromanipulation. J Micro-Bio Robot 12, 33–44 (2017). https://doi.org/10.1007/s12213-017-0096-4

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  • DOI: https://doi.org/10.1007/s12213-017-0096-4

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