Real-Time Force-Feedback Micromanipulation Using Mobile Microrobots With Colored Fiducials
Real-Time Force-Feedback Micromanipulation Using Mobile Microrobots With Colored Fiducials
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DOI：
10.1109/lra.2018.2854909
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发表时间：
2018-10-01
影响因子：
5.2
通讯作者：
Cappelleri, David J.
中科院分区：
文献类型：
--
作者：
Guix, Maria;Wang, Jianxiong;Cappelleri, David J.
这封信报告了无线控制移动微型机器人的设计和制造，该机器人带有基于车载视觉的二维微力传感器，用于力引导微操作任务。本文介绍的微力传感移动微型机器人(MU FSMM)展示了具有不同刚度和颜色跟踪基准的柔顺末端执行器，这些末端执行器与计算机视觉算法相结合，在执行电话操作的微操作任务时向用户提供实时微力反馈。柔顺弹簧的刚度经过量身定制，首次为移动微型机器人提供了微牛顿级的原位力检测能力，分辨率低于µN。MU FSMM可用于机械生物学、医学学领域，以及具有精细结构的力引导微操作任务，如生物细胞。
This letter reports the design and fabrication of wirelessly controlled mobile microrobots with an on-board vision based two-dimensional microforce sensor for use in force-guided micromanipulation tasks. The microforce sensing mobile micro robots (mu FSMM) presented here exhibit compliant end-effectors with different stiffnesses and color tracking fiducials, which are used in conjunction with computer vision algorithms to provide real-time microforce feedback to the user when performing tel-operated micromanipulation tasks. The stiffness of the compliant springs has been tailored to provide an in situ micronewton level force detection capability with sub-mu N resolution for the first time to mobile microrobots. The mu FSMMs can be used in the fields of mechanobiology, theranostics, and for force-guided micromanipulation tasks with delicate structures, such as biological cells.