Multipoint haptic guidance for micrograsping systems

Ang, Quan-Zen, Horan, Ben, Abdi, Hamid and Nahavandi, Saeid 2015, Multipoint haptic guidance for micrograsping systems, IEEE systems journal, vol. 9, no. 4, pp. 1388-1394, doi: 10.1109/JSYST.2014.2314737.

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Title Multipoint haptic guidance for micrograsping systems
Author(s) Ang, Quan-Zen
Horan, BenORCID iD for Horan, Ben orcid.org/0000-0002-6723-259X
Abdi, HamidORCID iD for Abdi, Hamid orcid.org/0000-0001-6597-7136
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Journal name IEEE systems journal
Volume number 9
Issue number 4
Start page 1388
End page 1394
Total pages 8
Publisher IEEE
Place of publication Piscataway, N.J.
Publication date 2015-05-05
ISSN 1932-8184
1937-9234
Summary The ability to perform accurate micromanipulation offers wide-reaching benefits and is of increasing interest to researchers. Recent research into microgripper, microtweezer, and microforcep systems contributes toward accurate micrograsping and manipulation. Despite these efforts, achieving adequate operator control remains a distinct research challenge. Haptic interfaces interact with the human's haptic modality and offer the ability to enhance the operator's controllability of micromanipulation systems. Our previous work introduced single-point haptic guidance to assist the operator during intracellular microinjection. This paper extends the approach to propose multipoint haptic guidance for micrograsping tasks. Accurate micrograsping is valuable in many applications, including microassembly and biomanipulation. A multipoint haptic gripper facilitates haptic interaction, and haptic guidance assists the operator in controlling systems suitable for micrograsping. Force fields are used to guide the operator to suitable grasp points on micrometer-sized objects and consist of attractive and repulsive forces. The ability of the force field to effectively assist the operator in grasping the cell is evaluated using a virtual environment. Evaluation results demonstrate the ability of the approach to significantly reduce participants' average grasping error.
Language eng
DOI 10.1109/JSYST.2014.2314737
Field of Research 090602 Control Systems, Robotics and Automation
Socio Economic Objective 890299 Computer Software and Services not elsewhere classified
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2015, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30075331

Document type: Journal Article
Collections: Centre for Intelligent Systems Research
School of Engineering
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