Two-fingered Micro Research Articles

Two-fingered Micro Hand Utilizing High Stiffness and Multi Degree of Freedom Characteristic of Parallel Mechanism

Two-fingered Micro Hand Utilizing High Stiffness and Multi Degree of Freedom Characteristic of Parallel Mechanism

2A2-M04 2本指マイクロハンドにおける先端位置合わせ自動化手法の開発

2A2-M04 2本指マイクロハンドにおける先端位置合わせ自動化手法の開発

New Architecture of a Hybrid Two-Fingered Micro–Nano Manipulator Hand: Optimization and Design

This paper presents the synthesis and design optimization of a compact and yet economical hybrid two-fingered micro–nano manipulator hand. The proposed manipulator hand consists of two series modules, i.e., an upper and lower modules. Each of them consists of a parallel kinematics chain with a glass pipette (1 mm diameter and 3–10 cm length) tapered to a very sharp end as an end-effector. It is driven by three piezo-electric actuated prismatic joints in each of the three legs of the parallel kinematics chain. Each leg of the kinematics chain has the prismatic–revolute–spherical joint structure. As the length of the glass pipette end-effector is decreased, the resolution and accuracy of the micro–nano manipulator hand is increased. For long lengths of the glass pipette end-effector, this manipulator works as a micro manipulator and for short lengths it works as a nano manipulator. A novel closed-form solution for the problem of inverse kinematics is obtained. Based on this solution, a simulation program has been developed to optimally choose the design parameters of each module so that the manipulator will have a maximum workspace volume. A computer-aided design model based on optimal parameters is built and investigated to check its workspace volume. Experimental work has been carried out for the purpose of calibration. Also, the system hardware setup of the hybrid two-fingered micro–nano manipulator hand and its practical Jacobian inverse matrices are presented.

Performance Evaluation of Teleoperation for Manipulating Micro Objects Using Two-Fingered Micro Hand

We developed a dexterous micromanipulation system consisting of a two-fingered micro hand, an autofocusing optical microscope, an image processor, and user interfaces. The micro hand has 6 degrees of freedom (DOF), 3 DOF each for two fingers that work similar to a thumb and forefinger or chopsticks. This hand grasps, moves, rotates and releases micron-scale objects. In teleoperation mode, the user controls hand motion with a joystick or keyboard while observing the microscope image on a TV monitor. We evaluate teleoperation performance for manipulating micron-scale objects. Several types of motion command methods proposed include a keyboard or joystick as operation device, and position or rate command modes. The tasks experimentally evaluated are picking, grasping, moving, and releasing micron-size objects, i.e., a glass grain in air and a yeast cell in liquid. These are compared in positioning accuracy and task execution time.

2本指マイクロハンドの操作性評価(マイクロ・ナノ作業2)

2本指マイクロハンドの操作性評価(マイクロ・ナノ作業2)

1P1-3F-B2 微細作業用二本指マイクロハンドのクローニングにおける卵操作への応用

本稿では, 微細作業用として開発された二本指マイクロハンドを, 作業者に高度な熟練技術を必要とされるクローニングにおける卵細胞核移植作業に適用し, 作業性向上および自動化を見据えたツールとしての有効性を検証する。

Force Control System for Autonomous Micro Manipulation

A dexterous micro manipulation system was developed for applications such as assembling micro machines, manipulating cells, and micro surgery. We have proposed a concept of a two-fingered micro hand, designed and built a prototype. We succeeded in performing basic micro manipulations with a teleoperation, including the grasp, release, and rotation of a microscopic object. The micro hand is controlled with a position control only. An operator has to guess a micro grasping force on the object from a microscope image. The accurate micro manipulation depends on a skill of the operator yet. For an easy manipulation and an automatic manipulation, it is necessary to measure the micro forces between the finger and the object. A micro force sensor has developed for a force control in micro manipulation on a corroboration research of AIST and Olympus Optical Co., Ltd. Its resolution is 0.5 nN in theoretically. In this paper, we will mention the micro force sensor and to perform an automatic micro manipulation with installing the sensor and a force control system. Basic experiment shows excellent micro capability.

1311 力制御を付加したマイクロマニピュレーションシステムによる細胞操作実験

In this paper, we discuss a manipulation for a cell with a two-fingered micro hand in a micro manipulation system. A force sensor, produced by Olympus Opt. Co., is attached to the top of finger in the two-fingered micro hand. In order for manipulation of cells, the glass needle is attached on the surface of the force sensor. The force sensor is evaluated for the application of cell manipulation by estimating its output signal in grasping a false cell. By using the force sensor. A force feedback control is introduced in the micro manipulation.

二本指マイクロハンド用操作デバイスの開発とその制御

We have proposed a concept of two-fingered micro hand, and designed and built a two-fingered micro hand based on parallel mechanisms. In this paper we mainly discuss a master device to control the two-fingered micro hand and a strategy for effective operation. We observed actual human finger motions and designed a master device and a operation strategy suitable for the two-fingered micro hand. By using the developed device, we could obtain good performance of micro manipulation.

二本指マイクロハンドの設計と微細作業

A prototype two-fingered micro hand is designed and is applied to the actual micro tasks. First, we discuss a concept of a two-fingered micro hand based on human usage of a pair of chopsticks. The two-fingered micro hand should be designed by considering the effective work space, or the common work space of two fingers, as well as the simplicity of its cooperation control for each finger. Our proposed prototype has two 6 DOF parallel mechanisms in series in order to realize similar motion in our chopsticks usage. We applied the prototype to practical micro manipulation tasks, and we succeeded in picking up a glass ball having size of 2 [μm] and placing it in arbitrary position under a microscope by human teleoperation.