Network Oriented Micromanipulation Systems using Haptic Interfaces

在CSCW技术领域，处理的数据仅仅是图像和声音，对包括物理接触在内的多通道协作的关注很少。我们关注的是网络多通道协作，特别是包括触觉接触的多通道协作。在这种情况下，遥操作被用来连接微工作空间和人类工作空间。它将解决遥操作中人、操作员和微观物体之间存在的比例差异问题。这些系统旨在为任务执行提供更舒适的环境，提高工作效率。对从机械手进行了运动学分析和工作空间分析。我们的微操作手具有并联机构，适合于上述微任务。它还具有足够的自由度，可以在微工作空间中实现人类的灵巧。采用模型参考自适应控制器作为一种触觉接口控制方案，对主装置进行摩擦力补偿，使系统的响应各向同性和自由运动性能受到影响。为了提高对小力的响应，采用了基于滑模的观测器来消除摩擦。采用非线性滑模观测器可以显著减小装置摩擦引起的非线性扰动力。该方法是非常有效的，最终将微操作手和触觉接口这两个系统连接起来，形成具有触觉反馈的遥操作系统。通过对两种不同的触觉交织系统进行8项基本任务测试的实验，对系统作为微任务辅助系统的性能进行了评价。结果表明，该遥操作系统具有较高的遥操作性能。

In CSCW technology field, the data dealt are only images and sounds, and little attention has been given to the multi-modal collaboration including physical contact We are concerned with networked multimodal collaboration especially those including haptic contacts.In our research, we consider the micromanipulation as an application of the tele-operation. In this case, the tele-operation is used to connect the micro-workspace with the human workspace. It will solve the scale difference problem existent when teleoperation is performed among human operator and micro objects. These systems aim to provide a more comfortable environment for task execution and work efficiency improvement.Kinematic analysis and workspace analysis of the slave manipulator were conducted. Our micromanipulator, which has parallel mechanism, are suitable for above mentioned micro-tasks. It's also having enough degrees of freedom for realize human dexterity in micro workspace. Detailed workspace analysis, especially dually arranged manipulators was also performed.As a haptic interface control scheme, the model reference adaptive controller was applied to the master device to compensate friction force, which spoiled response isotropy and free motion performance. To improve response to small force, an observer based on the sliding mode is used to eliminate the friction. The nonlinear disturbance force (caused by the friction of the device) can be significantly reduced by a nonlinear sliding mode observer. The proposed method is very effective.Finally, two systems, micromanipulator and haptic interface are connected each other as tele-micromanipulation systems with haptic feedback. Some experiment, which is performing 8 basic tasks tests with two different haptic interlaces, are performed to evaluate system performance as micro-task assistance system. It showed that the tele-micromanipulation systems have enough performance for tele-micro tasks.