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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.


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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⟩
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