Teleoperated Nano Scale Object Manipulation
Teleoperated Nano Scale Object Manipulation
复制标题
遥控纳米级物体操纵
DOI：
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发表时间：
1999
期刊：
影响因子：
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通讯作者：
H. Hashimoto
中科院分区：
文献类型：
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作者：
M. Sitti;H. Hashimoto
本文提出了一种遥操作纳米级物体操作系统，并定义了这种系统的要求。该系统包括一个用户界面，利用视觉和触觉显示器（宏观世界），纳米操纵器，控制器和传感器（纳米世界），和遥操作控制和粗到细的成像和驱动工具（宏观和纳米世界之间）。自制的原子力显微镜的纳米传感和操作，并利用国产的1-DOF触觉装置与虚拟阻抗为基础的双边遥操作控制方案。初步实验包括纳米尺度的触觉和力反馈，而触摸材料，和2.02 μm大小的乳胶粒子的二维组装和结果报告。
In this paper, a teleoperated nano scale object manipulation system is proposed, and requirements of such systems are defined. The system consists of a user interface util izing visual and haptic displays (macro world), nano-manipulator, controller and sensors (nano world), and teleoperation control and rough to fine imaging and actuation tools (between macro and nano worlds). A home-made Atomic Force Microscope is constructed for nano sensing and manipulation, and a home-made 1-DOF haptic device with Virtual Impedance-based bilateral teleoperation control scheme are utilized. Preliminary experiments consisting of nano scale tactile and force feedback while touching to materials, and 2-D assembly of 2.02 μm size latex particles are realized and results are reported.