Tactile perceptions of the optical tweezers based micromanipulation
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Auteurs : Cecile Pacoret [France]Source :
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Abstract
Today, microtechnologies are common practice in the industry. They are generally mass-produced by photolithography with several inherent difficulties. As a result, it is difficult to diagnosis defects in single parts as individual manipulation is complex and not cost-effective. In order to overcome these shortcomings, microrobotics proposes different techniques, either fully automated or teleoperated. Given the complexity of the manipulation task and the required flexibility, it is necessary to involve a human operator in the process. The use of force feedback is a recommended approach to enhance the operator's dexterity. In the case of microscale manipulation, big scaling ratios and specific dynamics are critical for a bilateral coupling schemes. In order to guarantee the stability of such a coupling, advances controllers are used with the secondary effect to reduce the quality of the force information, hence the sensation, fed back to the user. The approach proposed here aims to design a micromanipulation system specifically tailored to overcome these shortcomings, improving the human perception of the manipulation task while still guaranteeing the stability, instead of adapting an existing system to a force feedback scheme. in this prospect, several technical paths and optimizations are investigated: a dedicated contact-less manipulation technique based on optical tweezers, maximization of actuation and sensor workspaces, enhancement of the bandwidth and dynamic performances, development of a robust novel sensor based on event-based vision In the frame of this multidisciplinary study, three experimental setups are constructed in collaboration with specialists in micromanipulation, computer vision and haptic/tactile perceptions.
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They are generally mass-produced by photolithography with several inherent difficulties. As a result, it is difficult to diagnosis defects in single parts as individual manipulation is complex and not cost-effective. In order to overcome these shortcomings, microrobotics proposes different techniques, either fully automated or teleoperated. Given the complexity of the manipulation task and the required flexibility, it is necessary to involve a human operator in the process. The use of force feedback is a recommended approach to enhance the operator's dexterity. In the case of microscale manipulation, big scaling ratios and specific dynamics are critical for a bilateral coupling schemes. In order to guarantee the stability of such a coupling, advances controllers are used with the secondary effect to reduce the quality of the force information, hence the sensation, fed back to the user. The approach proposed here aims to design a micromanipulation system specifically tailored to overcome these shortcomings, improving the human perception of the manipulation task while still guaranteeing the stability, instead of adapting an existing system to a force feedback scheme. in this prospect, several technical paths and optimizations are investigated: a dedicated contact-less manipulation technique based on optical tweezers, maximization of actuation and sensor workspaces, enhancement of the bandwidth and dynamic performances, development of a robust novel sensor based on event-based vision In the frame of this multidisciplinary study, three experimental setups are constructed in collaboration with specialists in micromanipulation, computer vision and haptic/tactile perceptions.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Tactile perceptions of the optical tweezers based micromanipulation</title><title xml:lang="fr">Des pinces optiques pour un ressenti tactile de la micromanipulation</title><author role="aut"><persName><forename type="first">Cecile</forename><surname>Pacoret</surname></persName><email>pacoret@isir.upmc.fr</email><ptr type="url" target="http://people.isir.upmc.fr/pacoret"></ptr><idno type="halauthor">1001203</idno><affiliation ref="#struct-403090"></affiliation></author><editor role="depositor"><persName><forename>Cecile</forename><surname>Pacoret</surname></persName><email>pacoret@isir.upmc.fr</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2014-03-27 14:43:44</date><date type="whenModified">2016-03-21 17:27:18</date><date type="whenReleased">2014-03-31 15:24:38</date><date type="whenProduced">2011-07-07</date><date type="whenEndEmbargoed">2014-03-27</date><ref type="file" target="https://tel.archives-ouvertes.fr/tel-00964202/document"><date notBefore="2014-03-27"></date></ref><ref type="file" n="1" target="https://tel.archives-ouvertes.fr/tel-00964202/file/These.pdf"><date notBefore="2014-03-27"></date></ref></edition><respStmt><resp>contributor</resp><name key="193058"><persName><forename>Cecile</forename><surname>Pacoret</surname></persName><email>pacoret@isir.upmc.fr</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">tel-00964202</idno><idno type="halUri">https://tel.archives-ouvertes.fr/tel-00964202</idno><idno type="halBibtex">pacoret:tel-00964202</idno><idno type="halRefHtml">Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2011. Français</idno><idno type="halRef">Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2011. Français</idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="THESES-UPMC">Thèses de l'Université Pierre et Marie Curie</idno><idno type="stamp" n="UPMC">Université Pierre et Marie Curie</idno><idno type="stamp" n="ISIR" p="UPMC">Institut des Systèmes Intelligents et de Robotique</idno><idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno></seriesStmt><notesStmt></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Tactile perceptions of the optical tweezers based micromanipulation</title><title xml:lang="fr">Des pinces optiques pour un ressenti tactile de la micromanipulation</title><author role="aut"><persName><forename type="first">Cecile</forename><surname>Pacoret</surname></persName><email>pacoret@isir.upmc.fr</email><ptr type="url" target="http://people.isir.upmc.fr/pacoret"></ptr><idno type="halAuthorId">1001203</idno><affiliation ref="#struct-403090"></affiliation></author></analytic><monogr><imprint><date type="dateDefended">2011-07-07</date></imprint><authority type="institution">Université Pierre et Marie Curie - Paris VI</authority><authority type="school">Sciences mécaniques, acoustique, électronique & robotique de Paris</authority><authority type="supervisor">Stéphane Régnier</authority></monogr></biblStruct></sourceDesc><profileDesc><langUsage><language ident="fr">French</language></langUsage><textClass><keywords scheme="author"><term xml:lang="en">optical tweezers</term><term xml:lang="en">haptic</term><term xml:lang="en">event based vision</term><term xml:lang="fr">Micromanipulation</term><term xml:lang="fr">pinces optiques</term><term xml:lang="fr">téléopération</term><term xml:lang="fr">haptique</term><term xml:lang="fr">vision événementielle</term></keywords><classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode><classCode scheme="halTypology" n="THESE">Theses</classCode></textClass><abstract xml:lang="en">Today, microtechnologies are common practice in the industry. They are generally mass-produced by photolithography with several inherent difficulties. As a result, it is difficult to diagnosis defects in single parts as individual manipulation is complex and not cost-effective. In order to overcome these shortcomings, microrobotics proposes different techniques, either fully automated or teleoperated. Given the complexity of the manipulation task and the required flexibility, it is necessary to involve a human operator in the process. The use of force feedback is a recommended approach to enhance the operator's dexterity. In the case of microscale manipulation, big scaling ratios and specific dynamics are critical for a bilateral coupling schemes. In order to guarantee the stability of such a coupling, advances controllers are used with the secondary effect to reduce the quality of the force information, hence the sensation, fed back to the user. The approach proposed here aims to design a micromanipulation system specifically tailored to overcome these shortcomings, improving the human perception of the manipulation task while still guaranteeing the stability, instead of adapting an existing system to a force feedback scheme. in this prospect, several technical paths and optimizations are investigated: a dedicated contact-less manipulation technique based on optical tweezers, maximization of actuation and sensor workspaces, enhancement of the bandwidth and dynamic performances, development of a robust novel sensor based on event-based vision In the frame of this multidisciplinary study, three experimental setups are constructed in collaboration with specialists in micromanipulation, computer vision and haptic/tactile perceptions.</abstract><abstract xml:lang="fr">Les microtechnologies sont de plus en plus présentes dans notre quotidien. Leur production est aujourd'hui restreinte à des procédés de masse par photolithographie. Leur fabrication est mal contrôlée et les défauts sont fréquents. Or l'étude individuelle de chaque microcomposant est particulièrement difficile et coûteuse. La microrobotique propose des solutions automatiques ou téléopérées afin de résoudre ce type de verrous technologiques. Pour des raisons économiques et de flexibilité, de nombreux utilisateurs se tournent vers un contrôle impliquant un opérateur. Plusieurs travaux ont proposé un retour des interactions lors de la tâche au moyen d'une interface utilisateur évoluée, dite haptique, afin d'augmenter l'immersion dans le micromonde et donc la dextérité de l'opérateur. Dans le cas de la micromanipulation, les facteurs d'échelle et les fortes dynamiques provoquent de nombreuses instabilités dans le couplage bilatéral recherché. Il a donc été nécessaire d'utiliser des contrôleurs évolués au détriment des sensations. Pour obtenir des sensations réelles et utiles, nous proposons de revisiter la problématique sous un autre angle. Plutôt que d'utiliser un micromanipulateur existant, nous avons conçu un système dédié au retour d'effort. Nous posons les prémices d'un nouveau concept de micromanipulation haptique flexible, fiable et utile grâce à des choix et des optimisations de méthodes et de technologies : une méthode dédiée de préhension sans contact : les pinces optiques, une maximisation de l'espace de travail de ses actionneurs et capteurs, l'amélioration des performances en terme de dynamique et de bande passante, le développement de nouveau capteur de force robuste à l'environnement, basé sur la vision. Ce travail multidisciplinaire s'appuie sur la réalisation de trois installations expérimentales et sur des collaborations entre des équipes de micromanipulation, d'haptique et de vision.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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