Work

Enabling intuitive and effective micromanipulation: A wearable exoskeleton-integrated macro-to-micro teleoperation system with a 3D electrothermal microgripper

Year: 2024

Type: article

Abstract: In this article, we present a novel teleoperation system for dexterous micromanipulation with a 3D three-fingered electrothermal microgripper. An innovative and 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. The displacement of the fingertips is harnessed to govern the actions of the secondary microgripper via an effective position incremental control method. On this basis, a quantitative evaluation of the performance of the exoskeleton hand has been done. Meanwhile, a comprehensive assessment encompassing both primary-secondary mapping testing and dynamic testing of the secondary hand is conducted to testify the remarkable efficacy of the system. 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 multi-fingered microgripper in 3D micromanipulation. This innovative approach represents a pioneering endeavor in the design of micromanipulation systems. Even for untrained users, the tasks can be accomplished with ease in an intuitive and effective way.

Source: Robotics and Autonomous Systems

DOI: 10.1016/j.robot.2024.104776

Authors: Guoning Si, Hanli Zhang, Zhuo Zhang, Xuping Zhang

Institutions: University of Shanghai for Science and Technology, Xi’an University of Posts and Telecommunications, Aarhus University

Language: English

Topic: Teleoperation and Haptic Systems

Subfield: Mechanical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $3,050

Funder: National Natural Science Foundation of China