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

Khan, Shahzad and Nergiz, Ahmet Özcan and Şabanoviç, Asif and Patoğlu, Volkan (2007) A Hybrid Force-Position Controller based Man-Machine Interface for Manipulation of Micro Objects. In: IEEE International Symposium on Micro-NanoMechatronics and Human Science, Nagoya, Japan (Accepted/In Press)

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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.
Item Type: Papers in Conference Proceedings
Divisions: Faculty of Engineering and Natural Sciences
Depositing User: Volkan Patoğlu
Date Deposited: 31 Oct 2007 09:38
Last Modified: 26 Apr 2022 08:41
URI: https://research.sabanciuniv.edu/id/eprint/5742

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