Tele-touch feedback of surfaces at the micro/nano scale: modeling and experiments
Tele-touch feedback of surfaces at the micro/nano scale: modeling and experiments
复制标题
微/纳米尺度表面的远程触摸反馈：建模和实验
DOI：
10.1109/iros.1999.812791
复制
发表时间：
1999
期刊：
影响因子：
--
通讯作者：
H. Hashimoto
中科院分区：
文献类型：
--
作者：
M. Sitti;Satoshi Horighuchi;H. Hashimoto
本文提出了一种遥控微纳接触系统，并介绍了微纳接触力学模型。利用一自由度触觉装置、力反射式伺服比例遥操作控制器和原子力显微镜悬臂式针尖，实现了微/纳米触摸的触摸实验和虚拟现实模拟器。讨论了微纳米力和位置的比例问题，并提出了可能的解决方案。据我们所知，这是第一次用纳米级的实验结果来讨论这个问题。实验结果表明，该系统可以实现对平面的微/纳米接触力反馈。
In this paper, a teleoperated micro/nano scale touching system is proposed, and micro/nano contact mechanics models are introduced. Using a 1-DOF haptic device, force-reflecting servo type scaled teleoperation controller, and atomic force microscopy cantilever tip, touching experiments and virtual reality simulator for micro/nano-touch are realized. Scaling issue of the micro/nano forces and positions is discussed and possible solutions are proposed. For the first time upon our knowledge, such issue is discussed with nano scale experimental results. Experimental results show that micro/nano contact force feedback can be held for flat surfaces with the proposed system.