Paper Info
Title
Macro-micro tele-manipulation system based on body image embedding with contact feel, spatial motion and stereo vision.
Abstract
In this paper, we propose a novel macro-micro tele-manipulation system based on body image embedding with contact feel, spatial motion and stereo vision for micromanipulation under a microscope. The basic concept of body image embedding for macro-micro tele-manipulation has been already proposed by the authors. The system proposed here has three new realization ideas. The first idea is the realization of realistic contact feeling which is attained by driving a voice coil motor according to the binary on/off information of the switch between micro-tools. The use of a voice coil motor not only saves the cost of the system, but also generates clearer tactile and auditory stimuli than a piezo actuator for sending contact information in a micro world to an operator. The switch between micro-tools does not detect the contact between the object to be manipulated and the tool for manipulation directly, but can be useful for some tasks. The second idea is the realization of spatial motion of the manipulation tool relative to the object to be manipulated, which is realized by the appropriate coordination of the 2-degree-of-freedom motions of the slave manipulators. The third idea is the realization of stereo vision under the constraint of the position/orientation consistency of an operator's body image between proprioception and vision, which is achieved by the special placement of the dual joysticks of the dual micro-manipulators. The effectiveness of the proposed realization method is verified experimentally by micro-drawing tasks where we need appropriate hybrid position/force control of the micro-tool for manipulation in a three-dimensional space.
Year
DOI
Venue
2009
10.1109/ROMAN.2009.5326266
RO-MAN
Keywords
Field
DocType
force control,interactive devices,micromanipulators,position control,stereo image processing,telerobotics,body image embedding,contact feel,force control,joysticks,macro-micro telemanipulation system,manipulation tool,position control,spatial motion,voice coil motor
Computer vision,Embedding,Visualization,Computer science,Stereopsis,Simulation,Voice coil,Operator (computer programming),Artificial intelligence,Joystick,Telerobotics,Actuator
Conference
Citations 
PageRank 
References 
0
0.34
3
Authors
5
Name
Order
Citations
PageRank
Hiromi Mochiyama111924.01
Takeyuki Dohda200.34
Hisato Kobayashi39020.30
Junya Tatsuno401.35
Hiroyuki Kawai5279.11