A magnetic bilateral tele-manipulation system using paramagnetic microparticles for micromanipulation of nonmagnetic objects

Mohamed Abou Seif, Amr Hassan, Ahmed H. El-Shaer, Abdelrahman Alfar, Sarthak Misra, Islam S.M. Khalil

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    2 Citations (Scopus)

    Abstract

    This study presents a scaled-bilateral telemanipulation system for magnetic-based control of paramagnetic microparticles. This bilateral control system consists of a haptic device (master-robot) and an electromagnetic system with four orthogonal electromagnetic coils. The electromagnetic system generates magnetic field gradients to control the motion of the microparticle (slave-microrobot). A systematic robust tele-manipulation control design of the microparticles is achieved using disturbance observers (DOBs) to estimate the interaction forces at both the master-robot and slave-microrobot. Experimental results show that point-To-point motion control of the slave-microrobots results in maximum position error of 8 μm in the steady-state. Furthermore, we demonstrate experimentally that interaction forces of tens of micro Newtons, between the slave-microrobot and non-magnetic microbeads, can be estimated using DOBs and scaled-up to the sensory range of the operator.

    Original languageEnglish
    Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
    PublisherIEEE
    Pages1095-1102
    Number of pages8
    ISBN (Electronic)9781509059980
    DOIs
    Publication statusPublished - 21 Aug 2017
    EventIEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Sheraton Arabella Park Hotel, Munich, Germany
    Duration: 3 Jul 20177 Jul 2017

    Conference

    ConferenceIEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
    Abbreviated titleAIM 2017
    CountryGermany
    CityMunich
    Period3/07/177/07/17

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  • Cite this

    Seif, M. A., Hassan, A., El-Shaer, A. H., Alfar, A., Misra, S., & Khalil, I. S. M. (2017). A magnetic bilateral tele-manipulation system using paramagnetic microparticles for micromanipulation of nonmagnetic objects. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 1095-1102). [8014165] IEEE. https://doi.org/10.1109/AIM.2017.8014165