A haptic tele-manipulation environment for a vibration-driven micromechatronic device

Vlachos, K; Vartholomeos, P; Papadopoulos, E

dc.contributor.author	Vlachos, K	en
dc.contributor.author	Vartholomeos, P	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:44:23Z
dc.date.available	2014-03-01T02:44:23Z
dc.date.issued	2007	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31791
dc.subject	Haptics	en
dc.subject	Micro mechatronic device	en
dc.subject	Micromanipulation	en
dc.subject	Vibration-driven actuation	en
dc.subject.other	Asymptotic analysis	en
dc.subject.other	Electronics industry	en
dc.subject.other	Lattice vibrations	en
dc.subject.other	Mechanisms	en
dc.subject.other	Mechatronics	en
dc.subject.other	Micromanipulators	en
dc.subject.other	Phase interfaces	en
dc.subject.other	Vibrations (mechanical)	en
dc.subject.other	Centripetal forces	en
dc.subject.other	Haptics	en
dc.subject.other	Input modes	en
dc.subject.other	Intelligent mechatronics	en
dc.subject.other	International conferences	en
dc.subject.other	Micro manipulations	en
dc.subject.other	Micro mechatronic device	en
dc.subject.other	Micro-motors	en
dc.subject.other	Micromanipulation	en
dc.subject.other	Tele-manipulation	en
dc.subject.other	Vibration-driven actuation	en
dc.subject.other	Haptic interfaces	en
dc.title	A haptic tele-manipulation environment for a vibration-driven micromechatronic device	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/AIM.2007.4412589	en
heal.identifier.secondary	http://dx.doi.org/10.1109/AIM.2007.4412589	en
heal.identifier.secondary	4412589	en
heal.publicationDate	2007	en
heal.abstract	In this paper, a novel haptic tele-manipulation environment is presented. This includes an interface between a master haptic mechanism and a slave mechatronic mechanism for biomedical operations. The novelty stems from the fact that the environment's slave is a micromechatronic device driven by two inexpensive centripetal force vibration micromotors. 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. The environment employs three input modes and two force control phases, which are described in detail. The haptic telemanipulation environment is illustrated by several examples. These show that, while the interaction between the haptic mechanism and the vibration driven device is complicated, the micromanipulation of the device can be successful and appear to the operator as simple. ©2007 IEEE.	en
heal.journalName	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM	en
dc.identifier.doi	10.1109/AIM.2007.4412589	en