A magnetic bilateral tele-manipulation system using paramagnetic microparticles for micromanipulation of nonmagnetic objects

Mohamed Abou Seif, Amr Hassan, Ahmed H. El-Shaer, Abdelrahman Alfar, Sarthak Misra, Islam S.M. Khalil

OnderzoeksoutputAcademicpeer review

5 Citaten (Scopus)

Samenvatting

This study presents a scaled-bilateral telemanipulation system for magnetic-based control of paramagnetic microparticles. This bilateral control system consists of a haptic device (master-robot) and an electromagnetic system with four orthogonal electromagnetic coils. The electromagnetic system generates magnetic field gradients to control the motion of the microparticle (slave-microrobot). A systematic robust tele-manipulation control design of the microparticles is achieved using disturbance observers (DOBs) to estimate the interaction forces at both the master-robot and slave-microrobot. Experimental results show that point-To-point motion control of the slave-microrobots results in maximum position error of 8 μm in the steady-state. Furthermore, we demonstrate experimentally that interaction forces of tens of micro Newtons, between the slave-microrobot and non-magnetic microbeads, can be estimated using DOBs and scaled-up to the sensory range of the operator.

Originele taal-2English
Titel2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
UitgeverijInstitute of Electrical and Electronics Engineers Inc.
Pagina's1095-1102
Aantal pagina's8
ISBN van elektronische versie9781509059980
DOI's
StatusPublished - 21-aug-2017
Evenement2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
Duur: 3-jul-20177-jul-2017

Publicatie series

NaamIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Conference

Conference2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Land/RegioGermany
StadMunich
Periode03/07/201707/07/2017

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