Abstract
A dexterous micro manipulation system was developed for applications such as assembling micro machines, manipulating cells, and micro surgery. We have proposed a concept of a two-fingered micro hand, and designed and built a prototype. We succeeded in performing basic micro manipulations, including the grasp, release, and rotation of a microscopic object. The micro hand is controlled with a position control only. An operator has to guess a micro force on grasping from a behavior of object in a microscope image. The accurate micro manipulation depends on a skill of the operator yet. For an easy manipulation and an automatic manipulation, it is necessary to measure the micro forces between the finger and the object. A micro force sensor has developed for a force control in micro manipulation on a corroboration research of Mechanical Engineering Laboratory and Olympus Optical Cooperation. Its resolution is 0.5 [nN] in theoretically. In this paper, we will mention the micro force sensor and to perform an aut omatic micro manipulation with installing the sensor and a force control. Basic experiment shows excellent micro capability.
| Original language | English |
|---|---|
| Pages (from-to) | 610-615 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 1 |
| Publication status | Published - 2001 |
| Externally published | Yes |
| Event | 2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of Duration: 21 May 2001 → 26 May 2001 |
Keywords
- Automatic manipulation
- Force control
- Force sensor
- Micro manipulation