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2002 Fiscal Year Final Research Report Summary

Network Oriented Micromanipulation Systems using Haptic Interfaces

Research Project

Project/Area Number 13450174
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionThe University of Tokyo

Principal Investigator

HASHIMOTO Hideki  Institute of Industrial Science, Associate Professor, 生産技術研究所, 助教授 (30183908)

Project Period (FY) 2001 – 2002
KeywordsHaptic Interface / Tele-operation / Micromanipulation / Network / Sliding-mode Control / Collaboration / Parallel Manipulator
Research Abstract

In CSCW technology field, the data dealt are only images and sounds, and little attention has been given to the multi-modal collaboration including physical contact We are concerned with networked multimodal collaboration especially those including haptic contacts.
In our research, we consider the micromanipulation as an application of the tele-operation. In this case, the tele-operation is used to connect the micro-workspace with the human workspace. It will solve the scale difference problem existent when teleoperation is performed among human operator and micro objects. These systems aim to provide a more comfortable environment for task execution and work efficiency improvement.
Kinematic analysis and workspace analysis of the slave manipulator were conducted. Our micromanipulator, which has parallel mechanism, are suitable for above mentioned micro-tasks. It's also having enough degrees of freedom for realize human dexterity in micro workspace. Detailed workspace analysis, especially dually arranged manipulators was also performed.
As a haptic interface control scheme, the model reference adaptive controller was applied to the master device to compensate friction force, which spoiled response isotropy and free motion performance. To improve response to small force, an observer based on the sliding mode is used to eliminate the friction. The nonlinear disturbance force (caused by the friction of the device) can be significantly reduced by a nonlinear sliding mode observer. The proposed method is very effective.
Finally, two systems, micromanipulator and haptic interface are connected each other as tele-micromanipulation systems with haptic feedback. Some experiment, which is performing 8 basic tasks tests with two different haptic interlaces, are performed to evaluate system performance as micro-task assistance system. It showed that the tele-micromanipulation systems have enough performance for tele-micro tasks.

  • Research Products

    (14 results)

All Other

All Publications (14 results)

  • [Publications] Peter KORONDI, Noriaki ANDO, Peter T.SZEMES, Hideki HASHIMOTO: "MASTER DEVICE FOR MICRO TELE-OPERATION SYSTEMS"Journal of Electrical Engineering. 1・2. 57-62 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Noriaki Ando, Peter Korondi, Hideki Hashimoto: "Development of Micromanipulator and Haptic Interface for Networked Micromanipulation"IEEE/ASME Transactions on Mechatronics. 6・4. 417-427 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Noriaki Ando, Masahiro Ohta, Kouhei Gonda, Hideki Hashimoto: "Workspace Analysis of Parallel Manipulators for Tele-Micromanipulation Systems"Journal of Robotics and Mechatronics, Fuji Technology Press. 3・5. 488-496 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Peter T.Szemes, Peter Korondi, Noriaki Ando, Hideki Hashimoto: "Friction Compensation for Micro Tele-Operation Systems"Automatica, Journal of Control, Measurement, Electronics, Computing and Communications. 42・1-2. 23-27 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 安藤 慶昭, 太田 昌宏, Peter Korondi, 橋本 秀紀: "Haptic Interfaceを用いた微細作業システムの開発"電気学会論文誌C(電子・情報・システム部門誌). 112・8(採録決定). 1341-1350 (2002)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 橋本 秀紀, 安藤 慶昭: "遠隔マイクロマニピュレーション「特集微小物体のマニピュレーション」(解説)"精密工学会誌. 68・11. 1406-1410 (2002)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Hideki Hashimoto, Yasuharu Kunii: "Beyond Webcams : An Introduction to Online Robots, Part IV : Other Novel Applications"MIT Press. 331 (2001)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Peter KORONDI, Noriaki ANDO, Peter T. SZEMES, Hideki Hashimoto: "MASTER DEVICE FOR MICRO TELE-OPERATION SYSTEMS"Journal of Electrical Engineering, ISSN 1582-4594. 1, No.2. 57-62 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Noriaki Ando, Peter Korondi, Hideki Hashimoto: "Development of Micromanipulator and Haptic interface for Networked Micromanipulation"IEEE/ASME Transactions on Mechatronics, ISSN 1038-4435. 6, No.4. 417-427 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Noriaki Ando, Masahiro Chta, Kouhei Gonda, Hideki Hashimoto: "Workspace Analysis of Paralel Mmanipulator for Tele-Micromanipulation Systems"Journal of Robotics and Mechatronics, Fuji Technology Press, ISSN 0915-3942. 3, No.5. 488-496 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Peter T. Szemes, Peter Korondi, Noriaki Ando, Hideki Hashimoto: "Friction Compensafon for Micro Tele-Operation Systems"Automatica, Journal of Control, Measurement Electronics, Computing and Communications, ISSN 0005-1144. 42, No.1-2. 23-27 (2001)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Noriaki Ando, Masahiro Ohta, Peter KORONDI, Hideki Hashimoto: "Development of Micromanipulation Systems utilizing Haptic Interface (Originally written in Japanese)"Trans. IEE of Japan Categoty C (Electronics, Information, System), ISSN 0385-4221. 122, No.8. 1341-1350 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Hideki Hashimoto, Noriaki Ando: "Tele-micromanipulation (Special issue : Manipulation of micro objects)"Journal of The Japan Society for Precision Engineering, ISSN 0912-0289. 68, No.11. 1406-1410 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Hideki Hashimoto, Noriaki Ando, Joo-Ho Lee: "The Performance of Mobile Robots Controlled Through the Web (Book)"Beyond Webcams : An Introduction to Online Robots, edited by Ken Goldberg and Roland Siegwart, MIT Press, Part II : Remote Mobility, ISBN 0-262-07225-4. 137-154 (2001)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 2004-04-14  

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