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

Guoning Si, Hanli Zhang, Zhuo Zhang, Xuping Zhang*

*Corresponding author af dette arbejde

Publikation: Bidrag til tidsskrift/Konferencebidrag i tidsskrift /Bidrag til avisTidsskriftartikelForskningpeer review

Abstract

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.

OriginalsprogEngelsk
Artikelnummer104776
TidsskriftRobotics and Autonomous Systems
Vol/bind181
ISSN0921-8890
DOI
StatusUdgivet - nov. 2024

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