Networked telemicromanipulation systems "Haptic Loupe"

In this paper, "Haptic Loupe" telemicromanipulation systems are proposed. We have developed telemicromanipulation systems that enable human operators to perform micro tasks, such as assembly or manufacturing without stress . These systems are based on a scaled bilateral teleoperation system between different structures. The systems are composed of an original six-degrees-of-freedom (6-DOF) parallel link manipulator to carry out micromanipulation and a 6-DOF haptic interface with force feedback. A parallel mechanism is adopted as a slave micromanipulator because of its good features of accuracy and stiffness. The haptic master interface is developed for micromanipulation systems. Haptic device system modeling and a model reference adaptive controller are implemented to compensate for friction forces, which spoil the free motion performance and force response isotropy of the system. Total system performance as a telemicromanipulator system is evaluated by performing some primitive manipulation tasks in a teleoperation experiment. Experimental results are presented and discussed.