A Handheld Master Device for 3D Remote Micro-Manipulation - Sorbonne Université Access content directly
Conference Papers Year : 2018

A Handheld Master Device for 3D Remote Micro-Manipulation


Micro-assembly has always been a substantial issue for automation: micro-objects are difficult to grasp due to micro-world physical laws and a lack of adapted sensors. Therefore, many tasks are teleoperated using a nonintuitive device as joystick or button. This paper proposes a fresh remote handling solution to fill that need. A new 1-DOF master device which mimics a tweezers is brought to the fore: it is an instrumented haptic tweezers, handheld, allowing a high intuitiveness for the user. This master device, coupled with a tracking system, controls a micro-positioner and a micro-gripper. Different coupling strategies using position or speed variables are demonstrated.


Fichier principal
Vignette du fichier
MARSS2020.pdf (853.65 Ko) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

hal-03346944 , version 1 (14-06-2022)



Sophia Sakr, Thomas Daunizeau, David Reversat, Stephane Regnier, Sinan Haliyo. A Handheld Master Device for 3D Remote Micro-Manipulation. 2018 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS 2018), Jul 2018, Nagoya, Japan. ⟨10.1109/MARSS.2018.8481194⟩. ⟨hal-03346944⟩
55 View
98 Download



Gmail Mastodon Facebook X LinkedIn More