A Hybrid Force-Position Controller based Man-Machine Interface for Manipulation of Micro Objects

A Hybrid Force-Position Controller based Man-Machine Interface for Manipulation of Micro Objects. Khan, S., Nergis, A. O., Patoglu, V., & Sabanovic, A. In IEEE International Symposium on Micro-NanoMechatronics and Human Science, 2007.
abstract bibtex

A hybrid force-position controller based man-machine interface for manipulation of micro objects through pushing with a micro cantilever is presented. Visual feedback is employed to detect position and orientation of a micro particle and a piezoresistive AFM cantilever is automatically positioned to align the line of action of interaction forces in a way that will ensure the particle to track a desired trajectory. Control of the interaction force is delegated to a human operator through scaled bilateral teleoperation. A custom tele-micromanipulation setup is built for testing and preliminary experiments of controlled pushing to achieve pure translational motion of rectangular micro objects are implemented.

@InProceedings{Khan2007a,
	booktitle = {IEEE International Symposium on Micro-NanoMechatronics and Human Science},
	author = {Shahzad Khan and Ahmet Ozcan Nergis and Volkan Patoglu and Asif Sabanovic},
	title = {{A Hybrid Force-Position Controller based Man-Machine Interface for Manipulation of Micro Objects}},
	year = {2007},
	abstract ={A hybrid force-position controller based man-machine interface for manipulation of micro objects through pushing with a micro cantilever is presented. Visual feedback is employed to detect position and orientation of
a micro particle and a piezoresistive AFM cantilever is automatically positioned to align the line of action of interaction forces in a way that will ensure the particle to track a desired trajectory. Control of the interaction
force is delegated to a human operator through scaled bilateral teleoperation. A custom tele-micromanipulation setup is built for testing and preliminary experiments of controlled pushing to achieve pure translational motion of
rectangular micro objects are implemented.}
}

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