Abstract
A tele-haptic system for microassembly applications is currently being developed at the Delft University of Technology, with the goal of achieving superior performance by providing enhanced feedback to the human operator. Assembly of a micro-harmonic drive is used as a benchmark to fully evaluate the proposed tele-haptic system by investigating the control strategies and the individual subsystems: master device, microgrippers and slave system. The master device will be comprised of a parallel robot with a built-in gripper. The slave system and end effector are focused on providing efficient and effective force feedback of the interactions on the microenvironment to the human operator, in addition to detecting position and orientation of the object being grasped. Novel control strategies are also investigated to allow the transmission of high frequency transients to the operator, carrying information from hard contact interactions between the microgripper and the part to be assembled.
Chapter PDF
Similar content being viewed by others
Keywords
References
Fearing, R.S.: Survey of sticking effects for micro parts handling. In: IEEE/RSJ Int. Workshop on Intelligent Robots & Systems (IROS 1995), Pittsburgh (1995)
Kunt, E.D.: Design and Realization of a Microassembly Workstation. MS Thesis, Sabanci University (2006)
Mitsuishi, M., Watanabe, T., Nakanishi, H., Hori, T., Watanabe, H., Kramer, B.: A tele-micro-surgery system across the Internet with a fixed viewpoint/operation-point. In: IROS 1995, Pittsburgh, Pennsylvania, USA (August 1995)
Khan, S., Sabanovic, A.: Force Feedback Pushing Scheme for Micromanipulation Applications. Journal of Micro-Nano Mechatronics (accepted, 2009)
Beyeler, F., Probst, M., Nelson, B.J.: A Microassembly System with Microfabricated Endeffectors for Automated Assembly Tasks. In: Workshop on Robotic Microassembly of 3D Hybrid MEMS, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (October 2007)
Zhou, Q., Aurelian, A., del Corral, C., Esteban, P.J., Kallio, P., Chang, B., Koivo, H.N.: Microassembly station with controlled environment. In: Proc. of SPIE, vol. 4568, pp. 252–260 (2001)
Hériban, D., Agnus, J., Gauthier, M.: Micro-manipulation of silicate micro-sized particles for biological applications. In: 5th Int. Workshop on Microfactories, Besançon, France (2006)
Sieber, A., Valdastri, P., Houston, K., Eder, C., Tonet, O., Menciassi, A., Dario, P.: A novel haptic platform for real time bilateral biomanipulation with a MEMS sensor for triaxial force feedback. Sensors and Actuators A 142, 19–27 (2008)
Arai, F., Sugiyama, T., Luangjarmekorn, P., Kawaji, A., Fukuda, T., Itoigawa, K., Maeda, A.: 3D viewpoint selection and bilateral control forbio-micromanipulation. In: IEEE Int. Conf. on Robotics and Automation (ICRA 2000), vol. 1, pp. 947–952 (2000)
Perroud, S., Codourey, A., Mussard, Y.: PocketDelta: a miniature robot for microassembly. In: 5th International Workshop on MicroFactories, Besançon, France (October 2006)
Colgate, J.E., Schenkel, G.G.: Passivity of a Class of Sampled-Data Systems: Application to Haptic Interfaces. Journal of Robotic Systems 14(1), 37–47 (1997)
Microned Programme, http://www.microned.nl/
Moore, R.E., Bierbaum, F.: Methods and Applications of Interval Analysis. Society for Industrial Mathematics (1979)
Tan, H.Z., Srinivasan, M.A., Eberman, B., Cheng, B.: Human factors for the design of force-reflecting haptic interfaces. In: 3rd Int. Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Chicago, IL, vol. 55/1, pp. 353–359 (1994)
Porta, M., Wei, J., Tichem, M., Sarro, P.M., Staufer, U.: Vertical Contact Position Detection and Grasping Force Monitoring for Micro-Gripper Applications. In: IEEE Sensors 2009 (2009)
Wei, J., Porta, M., Tichem, M., Sarro, P.M.: A Contact Position Detection and Interaction Force Monitoring Sensor for Micro-Assembly Applications. In: Transducers 2009, Denver, CO, USA, pp. 2385–2388 (2009)
Porta, M., Tichem, M.: Grasping and Interaction Force Feed-Back in Microassembly. In: Accepted to the 5th Int. Prec. Assembly Seminar (IPAS 2010), Chamonix, France, February 14-17 (2010)
Hannaford, B.: A design framework for teleoperators with kinesthetic feedback. IEEE Transactions on Robotics and Automation 5(4), 426–434 (1989)
Kuchenbecker, K.J., Fiene, J., Niemeyer, G.: Improving Contact Realism Through Event-Based Haptic Feedback. IEEE Transactions on Visualization and Computer Graphics 2(2), 219–230 (2006)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 IFIP International Federation for Information Processing
About this paper
Cite this paper
Estevez, P. et al. (2010). A Haptic Tele-operated System for Microassembly. In: Ratchev, S. (eds) Precision Assembly Technologies and Systems. IPAS 2010. IFIP Advances in Information and Communication Technology, vol 315. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-11598-1_2
Download citation
DOI: https://doi.org/10.1007/978-3-642-11598-1_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-11597-4
Online ISBN: 978-3-642-11598-1
eBook Packages: Computer ScienceComputer Science (R0)