Haptics in Micro- and Nano-Manipulation

TL;DR

This paper presents a mathematical framework and experimental validation for haptic tele-manipulation systems that enable precise wireless control of micro- and nano-scale objects using magnetically-guided untethered microrobots.

Contribution

It introduces a scaled bilateral tele-manipulation system design, analyzes its stability, and demonstrates practical manipulation of micro-objects with haptic devices.

Findings

Stable closed-loop control of micro-manipulation demonstrated

Mathematical framework for wireless micro-object actuation established

Experimental case studies validate haptic manipulation of microrobots

Abstract

One of the motivations for the development of wirelessly guided untethered magnetic devices (UMDs), such as microrobots and nanorobots, is the continuous demand to manipulate, sort, and assemble micro-objects with high level of accuracy and dexterity. UMDs can function as microgrippers or manipulators and move micro-objects with or without direct contact. In this case, the UMDs can be directly teleoperated by an operator using haptic tele-manipulation systems. The aim of this chapter is threefold: first, to provide a mathematical framework to design a scaled bilateral tele-manipulation system to achieve wireless actuation of micro-objects using magnetically-guided UMDs; second, to demonstrate closed-loop stability based on absolute stability theory; third, to provide experimental case studies performed on haptic devices to manipulate microrobots and assemble micro-objects. In this chapter, we are concerned with some fundamental concepts of electromagnetics and low-Reynolds number hydrodynamics to understand the stability and performance of haptic devices in micro- and nano-manipulation applications.