Robotic Assisted Micromanipulation System using Virtual Fixtures and Metaphors

This paper describes the use of virtual fixtures and metaphors of assistance for robotic-assisted micromanipulation system in order to prevent the influence of microphysics on path planning and handling tasks. The system is based on a multimodal telemanipulation system using haptic/visual/sound interfaces for observation of microobjects under an optical microscope. Feasible haptically-generated paths based on potentials fields reaction forces and shock absorbers are described for efficient and safe pushing-based or adhesion-based micromanipulation. Then, metaphors with human sensory substitution are proposed in order to improve the perception of data or events. Finally, an experimental investigation carried out by nine trainees proves that the system guides efficiently and safely the operator´s gesture. Moreover, user performance on a given task can increase as much as 52% in typical micromanipulation tasks.