Interaction Force Estimation During Manipulation of Microparticles

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    Abstract

    This work investigates the utilization of microparticles for the wireless sensing of interaction forces in magneticbased manipulation systems. The proposed force estimation approach allows for using microparticles in sensing the interaction forces at hard-to-reach regions to avoid the mechanical and electronic complexities associated with physical force sensors. Based on the velocity of the microparticle and the applied currents at each of the electromagnets of the magnetic system, an interaction force observer is designed to estimate the contact forces between the microparticle and a soft-tissue simulant with different elasticities. Experimentally, a magnetic system is utilized to steer a microparticle towards a soft-tissue simulant to carry out force sensing. The experimental results show that forces in the range of nano-Newton can be estimated without nano-force sensors. The estimated interaction forces due to this contact can be used either in sensing and diagnosis applications, or in the realization of a force control system.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
    Place of PublicationPortugal
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages950-956
    Number of pages7
    ISBN (Electronic)978-1-4673-1736-8
    ISBN (Print)978-1-4673-1737-5
    DOIs
    Publication statusPublished - 7 Oct 2012
    EventIEEE/RSJ International Conference on Robotics and Intelligent Systems 2012 - Vilamoura, Portugal
    Duration: 7 Oct 201212 Oct 2012
    http://www.iros2012.org/site/

    Conference

    ConferenceIEEE/RSJ International Conference on Robotics and Intelligent Systems 2012
    Abbreviated titleIROS 2012
    CountryPortugal
    CityVilamoura
    Period7/10/1212/10/12
    Internet address

    Keywords

    • CE-Advanced Robotics
    • EWI-22852
    • Magnetic
    • Control
    • force estimation

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