Towards a Comprehensive and Robust Micromanipulation System with Force-Sensing and VR Capabilities

Micromachines

Georges Adam¹  Subramanian Chidambaram¹  Sai Swarup Reddy¹  Karthik Ramani¹  David J. Cappelleri¹ 

[1] School of Mechanical Engineering, Purdue University, West Lafayette, IN 47907, USA;

关键词: micromanipulation;    microrobotics;    force sensing;    virtual reality;   

DOI  :  10.3390/mi12070784

来源: DOAJ

【 摘 要 】

In this modern world, with the increase of complexity of many technologies, especially in the micro and nanoscale, the field of robotic manipulation has tremendously grown. Microrobots and other complex microscale systems are often to laborious to fabricate using standard microfabrication techniques, therefore there is a trend towards fabricating them in parts then assembling them together, mainly using micromanipulation tools. Here, a comprehensive and robust micromanipulation platform is presented, in which four micromanipulators can be used simultaneously to perform complex tasks, providing the user with an intuitive environment. The system utilizes a vision-based force sensor to aid with manipulation tasks and it provides a safe environment for biomanipulation. Lastly, virtual reality (VR) was incorporated into the system, allowing the user to control the probes from a more intuitive standpoint and providing an immersive platform for the future of micromanipulation.

【 授权许可】

Unknown