Remote microscale teleoperation through virtual reality and haptic feedback
Remote microscale teleoperation through virtual reality and haptic feedback
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通过虚拟现实和触觉反馈进行远程微尺度遥控操作
DOI：
10.1109/iros.2011.6094453
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
S. Fatikow
中科院分区：
文献类型：
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作者：
A. Bolopion;C. Stolle;R. Tunnell;S. Haliyo;S. Régnier;S. Fatikow
本文报道了在距离约630公里的两个地点之间对微尺度物体的远程处理。为了操作小于10微米的物体，通常需要特定的设备，如集成到扫描电子显微镜(SEM)中的AFM(原子力显微镜)悬臂。允许远程访问这样的系统将使任何微/纳米研究人员受益。然而，微操作系统的视觉反馈和传感器数据通常是有限的，因此遥操作场景的实现并不简单。这里提出了用于在广泛的应用中进行直观操作的特定工具。为了确保操作的简单性，提供了场景的3D虚拟表示和触觉反馈。力传感器反馈是有限的，因为只有两种测量方法可用。为了扩展这些信息，开发了视觉算法来估计工具和对象的各自位置，然后使用这些位置来计算触觉反馈。整个方案的稳定性对时延非常敏感。在视觉算法和在两个远程站点之间传输数据的通信模块中考虑了这一要求。此外，所提出的机器人控制体系结构是模块化的，因此该平台可以用于广泛的应用。在法国巴黎和德国奥尔登堡之间的远程操作中获得了第一个结果。
This paper reports the remote handling of microscale objects, between two sites approximately 630 km distant. To manipulate objects less than 10 µm, specific equipments such as AFM (Atomic Force Microscope) cantilevers integrated into a SEM (Scanning Electron Microscope) are generally required. Enabling remote access to such a system would benefit any micro/nanoresearcher. However, vision feedback and sensor data of a micromanipulation system are generally limited, hence the implementation of a teleoperation scenario is not straightforward. Specific tools are proposed here for an intuitive manipulation in a wide range of applications. To ensure ease of manipulation, both a 3D virtual representation of the scene and haptic feedback are provided. Force sensor feedback is limited since only two measures are available. In order to extend this information, vision algorithms are developed to estimate the respective positions of the tool and objects, which are then used to calculate the haptic feedback. The stability of the overall scheme is very sensitive to time delays. This requirement is taken into account in vision algorithms and the communication module which transfers the data between the two remote sites. In addition, the proposed robotic control architecture is modular so that the platform can be used for a wide range of applications. First results are obtained on a teleoperation between Paris, France, and Oldenburg, Germany.