Haptic feedback in teleoperation in Micro-and Nano-Worlds.
Identifieur interne : 000256 ( France/Analysis ); précédent : 000255; suivant : 000257Haptic feedback in teleoperation in Micro-and Nano-Worlds.
Auteurs : Aude Bolopion [France] ; Guillaume Millet [Canada, France] ; Cécile Pacoret [France] ; Stéphane Régnier [France]Source :
Abstract
Robotic systems have been developed to handle very small objects, but their use remains complex and necessitates long-duration training. Simulators, such as molecular simulators, can provide access to large amounts of raw data, but only highly trained users can interpret the results of such systems. Haptic feedback in teleoperation, which provides force-feedback to an operator, appears to be a promising solution for interaction with such systems, as it allows intuitiveness and flexibility. However several issues arise while implementing teleoperation schemes at the micro-nanoscale, owing to complex force-fields that must be transmitted to users, and scaling differences between the haptic device and the manipulated objects. Major advances in such technology have been made in recent years. This chapter reviews the main systems in this area and highlights how some fundamental issues in teleoperation for micro- and nano-scale applications have been addressed. The chapter considers three types of teleoperation, including: (1) direct (manipulation of real objects); (2) virtual (use of simulators); and (3) augmented (combining real robotic systems and simulators). Remaining issues that must be addressed for further advances in teleoperation for micro-nanoworlds are also discussed, including: (1) comprehension of phenomena that dictate very small object (< 500 micrometers) behavior; and (2) design of intuitive 3-D manipulation systems. Design guidelines to realize an intuitive haptic feedback teleoperation system at the micro-nanoscale level are proposed.
Url:
Affiliations:
- Canada, France
- Franche-Comté
- Belfort, Besançon
- Université de Bourgogne Franche-Comté, Université de Franche-Comté, Université de technologie de Belfort-Montbéliard
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Simulators, such as molecular simulators, can provide access to large amounts of raw data, but only highly trained users can interpret the results of such systems. Haptic feedback in teleoperation, which provides force-feedback to an operator, appears to be a promising solution for interaction with such systems, as it allows intuitiveness and flexibility. However several issues arise while implementing teleoperation schemes at the micro-nanoscale, owing to complex force-fields that must be transmitted to users, and scaling differences between the haptic device and the manipulated objects. Major advances in such technology have been made in recent years. This chapter reviews the main systems in this area and highlights how some fundamental issues in teleoperation for micro- and nano-scale applications have been addressed. The chapter considers three types of teleoperation, including: (1) direct (manipulation of real objects); (2) virtual (use of simulators); and (3) augmented (combining real robotic systems and simulators). Remaining issues that must be addressed for further advances in teleoperation for micro-nanoworlds are also discussed, including: (1) comprehension of phenomena that dictate very small object (< 500 micrometers) behavior; and (2) design of intuitive 3-D manipulation systems. Design guidelines to realize an intuitive haptic feedback teleoperation system at the micro-nanoscale level are proposed.</div></front></TEI><affiliations><list><country><li>Canada</li><li>France</li></country><region><li>Franche-Comté</li></region><settlement><li>Belfort</li><li>Besançon</li></settlement><orgName><li>Université de Bourgogne Franche-Comté</li><li>Université de Franche-Comté</li><li>Université de technologie de Belfort-Montbéliard</li></orgName></list><tree><country name="France"><region name="Franche-Comté"><name sortKey="Bolopion, Aude" sort="Bolopion, Aude" uniqKey="Bolopion A" first="Aude" last="Bolopion">Aude Bolopion</name></region><name sortKey="Pacoret, Cecile" sort="Pacoret, Cecile" uniqKey="Pacoret C" first="Cécile" last="Pacoret">Cécile Pacoret</name><name sortKey="Regnier, Stephane" sort="Regnier, Stephane" uniqKey="Regnier S" first="Stéphane" last="Régnier">Stéphane Régnier</name></country><country name="Canada"><region name="Franche-Comté"><name sortKey="Millet, Guillaume" sort="Millet, Guillaume" uniqKey="Millet G" first="Guillaume" last="Millet">Guillaume Millet</name></region></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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