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

    1 Citation (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

    Fingerprint

    Robots
    Motion control
    Magnetic fields
    Control systems

    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
    Seif, Mohamed Abou ; Hassan, Amr ; El-Shaer, Ahmed H. ; Alfar, Abdelrahman ; Misra, Sarthak ; Khalil, Islam S.M. / A magnetic bilateral tele-manipulation system using paramagnetic microparticles for micromanipulation of nonmagnetic objects. 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. IEEE, 2017. pp. 1095-1102
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    title = "A magnetic bilateral tele-manipulation system using paramagnetic microparticles for micromanipulation of nonmagnetic objects",
    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.",
    author = "Seif, {Mohamed Abou} and Amr Hassan and El-Shaer, {Ahmed H.} and Abdelrahman Alfar and Sarthak Misra and Khalil, {Islam S.M.}",
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    Seif, MA, Hassan, A, El-Shaer, AH, Alfar, A, Misra, S & Khalil, ISM 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., 8014165, IEEE, pp. 1095-1102, IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 3/07/17. https://doi.org/10.1109/AIM.2017.8014165

    A magnetic bilateral tele-manipulation system using paramagnetic microparticles for micromanipulation of nonmagnetic objects. / Seif, Mohamed Abou; Hassan, Amr; El-Shaer, Ahmed H.; Alfar, Abdelrahman; Misra, Sarthak; Khalil, Islam S.M.

    2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. IEEE, 2017. p. 1095-1102 8014165.

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

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    AU - Seif, Mohamed Abou

    AU - Hassan, Amr

    AU - El-Shaer, Ahmed H.

    AU - Alfar, Abdelrahman

    AU - Misra, Sarthak

    AU - Khalil, Islam S.M.

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    N2 - 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.

    AB - 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.

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    Seif MA, Hassan A, El-Shaer AH, Alfar A, Misra S, Khalil ISM. 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. IEEE. 2017. p. 1095-1102. 8014165 https://doi.org/10.1109/AIM.2017.8014165