Complex control of a human scale tele-operating system for micro-operation

In the medical field and in biotechnology application, a new type of human scale teleoperating system that can carry out three-dimensional high-speed micromanipulation has urgently been demanded. It is our purpose to develop a new type of human scale operating system for micro-operation that can manipulate a microobject. In this paper, we deal with a human scale teleoperating system. In order to operate microobject in human scale, the working table and micromanipulator with multiple DOF are required. So we propose a macro/micro mechanism for the system. First, we design a precision parallel micromechanism with 6-DOF (10 μm moving range, 10 nm resolving power), and compose the macro/micro mechanism. Then, we also did the complex control for the macro/micro mechanism. The experimental results indicate that the proposed macro/micro mechanism can be controlled by teleoperation, and it is very useful for human scale micro-operation system.