Intuitive Command of Manipulators in Micro-scale Tasks

Manipulation tasks performed under microscopes are fatigue inducing on account of the difficulty in visualisation of the scene and hand-eye coordination. This work concentrates on providing assistance to the operator in the form of a visual-haptic interactive system which allows intuitive command of the manipulator motion axes. Specific examples of visualisation tools are presented which compensate for problems such as: spatial d is orientation, loss of depth perception, and occluded data.