HapticV1, PascalFrancis, Corpus, bibRecord, 000A96

The concept of "Hhaptic Tweezer", a non-contact object handling system using levitation techniques and haptics

Identifieur interne : 000A96 ( PascalFrancis/Corpus ); précédent : 000A95; suivant : 000A97

The concept of "Hhaptic Tweezer", a non-contact object handling system using levitation techniques and haptics

Auteurs : Ewoud Van West ; Akio Yamamoto ; Toshiro Higuchi

Source :

Mechatronics : (Oxford) [ 0957-4158 ] ; 2007.

RBID : Pascal:07-0496886

Descripteurs français

Pascal (Inist)
- Frottement statique, Lévitation magnétique, Sensibilité tactile, Suspension magnétique, Force électrostatique, Contact mécanique, Adhérence, Contamination, Endommagement, Temps réel, Etude expérimentale, Micromanipulation, Lévitation électrostatique.

English descriptors

KwdEn :
- Adhesion, Contamination, Damaging, Electrostatic force, Electrostatical levitation, Experimental study, Magnetic levitation, Magnetic suspension, Mechanical contact, Micromanipulation, Real time, Stiction, Tactile sensitivity.

Abstract

This paper proposes a new tool concept for object handling. The new tool, named "Haptic Tweezer", is a combination of a non-contact levitation system, such as magnetic- and electrostatic levitation, and a haptic device to realize intuitive object handling. Without mechanical contact, effects such as stiction, contamination or damage to fragile parts can be avoided. In this collaborative system, the haptic device assists the operator in real time to perform an object handling task, such as Pick and Place. By linking a haptic force to the levitation position error, instability of the levitation system during the Pick Up and Place task can be reduced. It realizes an additional stiffness between the tool and the object. Applications of the Haptic Tweezer concept could be the handling of micro-objects or handling fragile objects such as silicon wafers or thin glass plates of flat panel displays (FPD), where non-contact object handling is beneficial. This paper describes the concept of Haptic Tweezer and two realized prototypes, based on magnetic levitation, are shown. Experimental results showed unique characteristics in picking up and placing, which contribute to dexterous and intuitive object handling.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A03		`1`		`@0 Mechatronics : (Oxf.)`
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A08	`01`	`1`	`ENG`	`@1 The concept of "Hhaptic Tweezer", a non-contact object handling system using levitation techniques and haptics`
A11	`01`	`1`		`@1 VAN WEST (Ewoud)`
A11	`02`	`1`		`@1 YAMAMOTO (Akio)`
A11	`03`	`1`		`@1 HIGUCHI (Toshiro)`
A14	`01`			`@1 The University of Tokyo, School of Engineering, Department of Precision Engineering, 7-3-1 Hongo @2 Bunkyo, Tokyo 113-8656 @3 JPN @Z 1 aut. @Z 2 aut. @Z 3 aut.`
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A21				`@1 2007`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 22113 @5 354000146700960010`
A44				`@0 0000 @1 © 2007 INIST-CNRS. All rights reserved.`
A45				`@0 40 ref.`
A47	`01`	`1`		`@0 07-0496886`
A60				`@1 P`
A61				`@0 A`
A64	`01`	`1`		`@0 Mechatronics : (Oxford)`
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C01	`01`		`ENG`	@0 This paper proposes a new tool concept for object handling. The new tool, named "Haptic Tweezer", is a combination of a non-contact levitation system, such as magnetic- and electrostatic levitation, and a haptic device to realize intuitive object handling. Without mechanical contact, effects such as stiction, contamination or damage to fragile parts can be avoided. In this collaborative system, the haptic device assists the operator in real time to perform an object handling task, such as Pick and Place. By linking a haptic force to the levitation position error, instability of the levitation system during the Pick Up and Place task can be reduced. It realizes an additional stiffness between the tool and the object. Applications of the Haptic Tweezer concept could be the handling of micro-objects or handling fragile objects such as silicon wafers or thin glass plates of flat panel displays (FPD), where non-contact object handling is beneficial. This paper describes the concept of Haptic Tweezer and two realized prototypes, based on magnetic levitation, are shown. Experimental results showed unique characteristics in picking up and placing, which contribute to dexterous and intuitive object handling.
C02	`01`	`X`		`@0 001D12I`
C03	`01`	`X`	`FRE`	`@0 Frottement statique @5 06`
C03	`01`	`X`	`ENG`	`@0 Stiction @5 06`
C03	`01`	`X`	`SPA`	`@0 Frotamiento estatico @5 06`
C03	`02`	`X`	`FRE`	`@0 Lévitation magnétique @5 18`
C03	`02`	`X`	`ENG`	`@0 Magnetic levitation @5 18`
C03	`02`	`X`	`SPA`	`@0 Levitacíon magnetica @5 18`
C03	`03`	`X`	`FRE`	`@0 Sensibilité tactile @5 19`
C03	`03`	`X`	`ENG`	`@0 Tactile sensitivity @5 19`
C03	`03`	`X`	`SPA`	`@0 Sensibilidad tactil @5 19`
C03	`04`	`X`	`FRE`	`@0 Suspension magnétique @5 20`
C03	`04`	`X`	`ENG`	`@0 Magnetic suspension @5 20`
C03	`04`	`X`	`SPA`	`@0 Suspensión magnética @5 20`
C03	`05`	`X`	`FRE`	`@0 Force électrostatique @5 21`
C03	`05`	`X`	`ENG`	`@0 Electrostatic force @5 21`
C03	`05`	`X`	`SPA`	`@0 Fuerza electrostática @5 21`
C03	`06`	`X`	`FRE`	`@0 Contact mécanique @5 22`
C03	`06`	`X`	`ENG`	`@0 Mechanical contact @5 22`
C03	`06`	`X`	`SPA`	`@0 Contacto mecánico @5 22`
C03	`07`	`X`	`FRE`	`@0 Adhérence @5 23`
C03	`07`	`X`	`ENG`	`@0 Adhesion @5 23`
C03	`07`	`X`	`SPA`	`@0 Adherencia @5 23`
C03	`08`	`X`	`FRE`	`@0 Contamination @5 24`
C03	`08`	`X`	`ENG`	`@0 Contamination @5 24`
C03	`08`	`X`	`SPA`	`@0 Contaminación @5 24`
C03	`09`	`X`	`FRE`	`@0 Endommagement @5 25`
C03	`09`	`X`	`ENG`	`@0 Damaging @5 25`
C03	`09`	`X`	`SPA`	`@0 Deterioración @5 25`
C03	`10`	`X`	`FRE`	`@0 Temps réel @5 26`
C03	`10`	`X`	`ENG`	`@0 Real time @5 26`
C03	`10`	`X`	`SPA`	`@0 Tiempo real @5 26`
C03	`11`	`X`	`FRE`	`@0 Etude expérimentale @5 33`
C03	`11`	`X`	`ENG`	`@0 Experimental study @5 33`
C03	`11`	`X`	`SPA`	`@0 Estudio experimental @5 33`
C03	`12`	`X`	`FRE`	`@0 Micromanipulation @5 41`
C03	`12`	`X`	`ENG`	`@0 Micromanipulation @5 41`
C03	`12`	`X`	`SPA`	`@0 Micromanipulación @5 41`
C03	`13`	`X`	`FRE`	`@0 Lévitation électrostatique @4 CD @5 96`
C03	`13`	`X`	`ENG`	`@0 Electrostatical levitation @4 CD @5 96`
C03	`13`	`X`	`SPA`	`@0 Levitación electrostática @4 CD @5 96`
N21				`@1 323`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 07-0496886 INIST
ET :	The concept of "Hhaptic Tweezer", a non-contact object handling system using levitation techniques and haptics
AU :	VAN WEST (Ewoud); YAMAMOTO (Akio); HIGUCHI (Toshiro)
AF :	The University of Tokyo, School of Engineering, Department of Precision Engineering, 7-3-1 Hongo/Bunkyo, Tokyo 113-8656/Japon (1 aut., 2 aut., 3 aut.)
DT :	Publication en série; Niveau analytique
SO :	Mechatronics : (Oxford); ISSN 0957-4158; Royaume-Uni; Da. 2007; Vol. 17; No. 7; Pp. 345-356; Bibl. 40 ref.
LA :	Anglais
EA :	This paper proposes a new tool concept for object handling. The new tool, named "Haptic Tweezer", is a combination of a non-contact levitation system, such as magnetic- and electrostatic levitation, and a haptic device to realize intuitive object handling. Without mechanical contact, effects such as stiction, contamination or damage to fragile parts can be avoided. In this collaborative system, the haptic device assists the operator in real time to perform an object handling task, such as Pick and Place. By linking a haptic force to the levitation position error, instability of the levitation system during the Pick Up and Place task can be reduced. It realizes an additional stiffness between the tool and the object. Applications of the Haptic Tweezer concept could be the handling of micro-objects or handling fragile objects such as silicon wafers or thin glass plates of flat panel displays (FPD), where non-contact object handling is beneficial. This paper describes the concept of Haptic Tweezer and two realized prototypes, based on magnetic levitation, are shown. Experimental results showed unique characteristics in picking up and placing, which contribute to dexterous and intuitive object handling.
CC :	001D12I
FD :	Frottement statique; Lévitation magnétique; Sensibilité tactile; Suspension magnétique; Force électrostatique; Contact mécanique; Adhérence; Contamination; Endommagement; Temps réel; Etude expérimentale; Micromanipulation; Lévitation électrostatique
ED :	Stiction; Magnetic levitation; Tactile sensitivity; Magnetic suspension; Electrostatic force; Mechanical contact; Adhesion; Contamination; Damaging; Real time; Experimental study; Micromanipulation; Electrostatical levitation
SD :	Frotamiento estatico; Levitacíon magnetica; Sensibilidad tactil; Suspensión magnética; Fuerza electrostática; Contacto mecánico; Adherencia; Contaminación; Deterioración; Tiempo real; Estudio experimental; Micromanipulación; Levitación electrostática
LO :	INIST-22113.354000146700960010
ID :	07-0496886

Links to Exploration step

Pascal:07-0496886

Le document en format XML

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<front><div type="abstract" xml:lang="en">This paper proposes a new tool concept for object handling. The new tool, named "Haptic Tweezer", is a combination of a non-contact levitation system, such as magnetic- and electrostatic levitation, and a haptic device to realize intuitive object handling. Without mechanical contact, effects such as stiction, contamination or damage to fragile parts can be avoided. In this collaborative system, the haptic device assists the operator in real time to perform an object handling task, such as Pick and Place. By linking a haptic force to the levitation position error, instability of the levitation system during the Pick Up and Place task can be reduced. It realizes an additional stiffness between the tool and the object. Applications of the Haptic Tweezer concept could be the handling of micro-objects or handling fragile objects such as silicon wafers or thin glass plates of flat panel displays (FPD), where non-contact object handling is beneficial. This paper describes the concept of Haptic Tweezer and two realized prototypes, based on magnetic levitation, are shown. Experimental results showed unique characteristics in picking up and placing, which contribute to dexterous and intuitive object handling.</div>
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<server><NO>PASCAL 07-0496886 INIST</NO>
<ET>The concept of "Hhaptic Tweezer", a non-contact object handling system using levitation techniques and haptics</ET>
<AU>VAN WEST (Ewoud); YAMAMOTO (Akio); HIGUCHI (Toshiro)</AU>
<AF>The University of Tokyo, School of Engineering, Department of Precision Engineering, 7-3-1 Hongo/Bunkyo, Tokyo 113-8656/Japon (1 aut., 2 aut., 3 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>Mechatronics : (Oxford); ISSN 0957-4158; Royaume-Uni; Da. 2007; Vol. 17; No. 7; Pp. 345-356; Bibl. 40 ref.</SO>
<LA>Anglais</LA>
<EA>This paper proposes a new tool concept for object handling. The new tool, named "Haptic Tweezer", is a combination of a non-contact levitation system, such as magnetic- and electrostatic levitation, and a haptic device to realize intuitive object handling. Without mechanical contact, effects such as stiction, contamination or damage to fragile parts can be avoided. In this collaborative system, the haptic device assists the operator in real time to perform an object handling task, such as Pick and Place. By linking a haptic force to the levitation position error, instability of the levitation system during the Pick Up and Place task can be reduced. It realizes an additional stiffness between the tool and the object. Applications of the Haptic Tweezer concept could be the handling of micro-objects or handling fragile objects such as silicon wafers or thin glass plates of flat panel displays (FPD), where non-contact object handling is beneficial. This paper describes the concept of Haptic Tweezer and two realized prototypes, based on magnetic levitation, are shown. Experimental results showed unique characteristics in picking up and placing, which contribute to dexterous and intuitive object handling.</EA>
<CC>001D12I</CC>
<FD>Frottement statique; Lévitation magnétique; Sensibilité tactile; Suspension magnétique; Force électrostatique; Contact mécanique; Adhérence; Contamination; Endommagement; Temps réel; Etude expérimentale; Micromanipulation; Lévitation électrostatique</FD>
<ED>Stiction; Magnetic levitation; Tactile sensitivity; Magnetic suspension; Electrostatic force; Mechanical contact; Adhesion; Contamination; Damaging; Real time; Experimental study; Micromanipulation; Electrostatical levitation</ED>
<SD>Frotamiento estatico; Levitacíon magnetica; Sensibilidad tactil; Suspensión magnética; Fuerza electrostática; Contacto mecánico; Adherencia; Contaminación; Deterioración; Tiempo real; Estudio experimental; Micromanipulación; Levitación electrostática</SD>
<LO>INIST-22113.354000146700960010</LO>
<ID>07-0496886</ID>
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The concept of "Hhaptic Tweezer", a non-contact object handling system using levitation techniques and haptics

The concept of "Hhaptic Tweezer", a non-contact object handling system using levitation techniques and haptics

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