Bilateral Macro–Micro Teleoperation Using Magnetic Levitation

摘要: This paper introduces a novel magnetic-haptic micromanipulation platform with promising potential for extensive biological and biomedical applications. The has three basic subsystems: magnetic untethered microrobotic system, haptic device, scaled bilateral teleoperation system. A mathematical force model of the propulsion mechanism is developed, used to design PID controllers actuation mechanism. gain-switching position-position scheme employed this application. In experimental verifications, human operator controls motion microrobot via master manipulator dexterous tasks. can feel during microdomain tasks if encounters stiff environment. effect hard contact fed back operator's hand in 20 mm × 30 working envelope proposed platform. Conducting several experiments under different conditions, rms position tracking errors varied from 40 μm.