Academic Journal
Enabling intuitive and effective micromanipulation:A wearable exoskeleton-integrated macro-to-micro teleoperation system with a 3D electrothermal microgripper
| العنوان: | Enabling intuitive and effective micromanipulation:A wearable exoskeleton-integrated macro-to-micro teleoperation system with a 3D electrothermal microgripper |
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| المؤلفون: | Si, Guoning, Zhang, Hanli, Zhang, Zhuo, Zhang, Xuping |
| المصدر: | Si , G , Zhang , H , Zhang , Z & Zhang , X 2024 , ' Enabling intuitive and effective micromanipulation : A wearable exoskeleton-integrated macro-to-micro teleoperation system with a 3D electrothermal microgripper ' , Robotics and Autonomous Systems , vol. 181 , 104776 . https://doi.org/10.1016/j.robot.2024.104776 |
| سنة النشر: | 2024 |
| المجموعة: | Aarhus University: Research |
| مصطلحات موضوعية: | 3D micromanipulation, Exoskeleton hand, Macro-to-micro teleoperation system, Primary-secondary mapping, Zebrafish embryo |
| الوصف: | In this article, we present a novel teleoperation system for dexterous micromanipulation with a 3D three-fingered electrothermal microgripper. A lightweight wearable exoskeleton hand is designed and employed as the primary device, integrating rotational potentiometers as angle sensors, which are embedded in a closed-loop kinematic chain for detecting flexion/extension and adduction/abduction angles of motion. The measured angles are subsequently translated into exoskeleton hand-fingertip positions utilized as the primary inputs. A 3D electrothermal microgripper based tele-micro manipulation system is realized. The displacement of the exoskeleton fingertips is harnessed to govern the actions of the microgripper via an effective position incremental control method. Furthermore, the system's capabilities are exemplified through intricate micromanipulations performed on soft zebrafish embryos. The micromanipulations encompass gripping and rotational maneuvers. The outcomes of empirical experimentation clearly demonstrate the suitability of the macro-micro teleoperation system, which incorporates an exoskeleton hand for controlling a microgripper in 3D micromanipulation. The system improves operator comfort and maneuvering efficiency. Even for untrained users, the tasks can be accomplished with ease in an intuitive and effective way. |
| نوع الوثيقة: | article in journal/newspaper |
| اللغة: | English |
| DOI: | 10.1016/j.robot.2024.104776 |
| الاتاحة: | https://pure.au.dk/portal/en/publications/b3e14090-5efd-461a-a011-5de51c5e5895 https://doi.org/10.1016/j.robot.2024.104776 http://www.scopus.com/inward/record.url?scp=85201225453&partnerID=8YFLogxK |
| Rights: | info:eu-repo/semantics/openAccess |
| رقم الانضمام: | edsbas.88DC2AB3 |
| قاعدة البيانات: | BASE |
| DOI: | 10.1016/j.robot.2024.104776 |
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