Abstract
An external magnetic field can be used in remotely controlling magnetic microrobots, making them promising candidates for diverse biomedical applications, including cell manipulation and therapy. This paper presents a teleoperation scheme to control magnetically actuated microrobots. The system was developed to allow human operators to control the motion for magnetically actuated microrobots and feel their interactions with the environment. The potential applications of the presented system will be in targeted drug delivery, micro-assembly, and biopsy procedures. A haptic interface constituted the core of the teleoperation system. It was used to provide the operator with force feedback to control the microrobots. In particular, virtual interaction forces were computed and transmitted to the human operators to guide them in performing path following tasks. The operating field of the microrobots was haptically rendered to avoid contacts with obstacles. Finally, a basic set of experimental trials were conducted, demonstrating that the average path tracking error was reduced by 67% when haptic feedback was used.
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