Analysis and experiments of a haptic telemanipulation environment for a microrobot driven by centripetal forces

Viachos, K; Papadopoulos, E

dc.contributor.author	Viachos, K	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:27:55Z
dc.date.available	2014-03-01T01:27:55Z
dc.date.issued	2008	en
dc.identifier.issn	1530-9827	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/18636
dc.subject	Force Feedback	en
dc.subject.classification	Computer Science, Interdisciplinary Applications	en
dc.subject.classification	Engineering, Manufacturing	en
dc.subject.other	TELEOPERATION SYSTEM	en
dc.subject.other	DESIGN	en
dc.subject.other	DEVICE	en
dc.title	Analysis and experiments of a haptic telemanipulation environment for a microrobot driven by centripetal forces	en
heal.type	journalArticle	en
heal.identifier.primary	10.1115/1.2988385	en
heal.identifier.secondary	041007	en
heal.identifier.secondary	http://dx.doi.org/10.1115/1.2988385	en
heal.language	English	en
heal.publicationDate	2008	en
heal.abstract	This paper presents the analytical and experimental results on a new haptic telemanipulation environment for microrobot control. The proposed environment is comprised of a 5DOF force feedback mechanism, acting as the master and a 2DOF microrobot, acting as the slave. The fact that the slave microrobot is driven by two centripetal force vibration micronwtors makes the presented telemanipulation environment exceptional and challenging. The unique characteristics and challenges that arise during the haptic micromanipulation of the specific device are described and analyzed. The developed solutions are presented and discussed. Several experiments show that, regardless of the disparity between the master and slave, the proposed environment facilitates functional and simple microrobot control during micromanipulation operations. Copyright © 2008 by ASME.	en
heal.publisher	ASME-AMER SOC MECHANICAL ENG	en
heal.journalName	Journal of Computing and Information Science in Engineering	en
dc.identifier.doi	10.1115/1.2988385	en
dc.identifier.isi	ISI:000261210300008	en
dc.identifier.volume	8	en
dc.identifier.issue	4	en
dc.identifier.spage	0410071	en
dc.identifier.epage	0410079	en