Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance

Claudio Pacchierotti, Federico Ongaro (Corresponding Author), Frank van den Brink, ChangKyu Yoon, Domenico Prattichizzo, David H. Gracias, Sarthak Misra

    Research output: Contribution to journalArticleAcademicpeer-review

    13 Citations (Scopus)
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    Abstract

    Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steering systems currently available enables humans to intuitively and effectively control dexterous miniaturized robots in a remote environment. In this paper, we present an innovative microteleoperation system with haptic assistance for the intuitive steering and control of miniaturized self-folding soft magnetic grippers in 2-D space. The soft grippers can be wirelessly positioned using weak magnetic fields and opened/closed by changing their temperature. An image-guided algorithm tracks the position of the controlled miniaturized gripper in the remote environment. A haptic interface provides the human operator with compelling haptic sensations about the interaction between the gripper and the environment as well as enables the operator to intuitively control the target position and grasping configuration of the gripper. Finally, magnetic and thermal control systems regulate the position and grasping configuration of the gripper. The viability of the proposed approach is demonstrated through two experiments involving 26 human subjects. Providing haptic stimuli elicited statistically significant improvements in the performance of the considered navigation and micromanipulation tasks.
    Original languageEnglish
    Article number7820145
    Pages (from-to)290-306
    Number of pages17
    JournalIEEE transactions on automation science and engineering
    Volume15
    Issue number1
    DOIs
    Publication statusPublished - 17 Jan 2018

    Fingerprint

    Grippers
    Robots
    Haptic interfaces
    Biopsy
    Navigation
    Robotics
    Magnetic fields
    Control systems
    Experiments

    Keywords

    • Grasping
    • Haptics
    • Magnetic control
    • Microteleoperation
    • Microrobotics
    • Soft robotics

    Cite this

    Pacchierotti, Claudio ; Ongaro, Federico ; van den Brink, Frank ; Yoon, ChangKyu ; Prattichizzo, Domenico ; Gracias, David H. ; Misra, Sarthak. / Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance. In: IEEE transactions on automation science and engineering. 2018 ; Vol. 15, No. 1. pp. 290-306.
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    abstract = "Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steering systems currently available enables humans to intuitively and effectively control dexterous miniaturized robots in a remote environment. In this paper, we present an innovative microteleoperation system with haptic assistance for the intuitive steering and control of miniaturized self-folding soft magnetic grippers in 2-D space. The soft grippers can be wirelessly positioned using weak magnetic fields and opened/closed by changing their temperature. An image-guided algorithm tracks the position of the controlled miniaturized gripper in the remote environment. A haptic interface provides the human operator with compelling haptic sensations about the interaction between the gripper and the environment as well as enables the operator to intuitively control the target position and grasping configuration of the gripper. Finally, magnetic and thermal control systems regulate the position and grasping configuration of the gripper. The viability of the proposed approach is demonstrated through two experiments involving 26 human subjects. Providing haptic stimuli elicited statistically significant improvements in the performance of the considered navigation and micromanipulation tasks.",
    keywords = "Grasping, Haptics, Magnetic control, Microteleoperation, Microrobotics, Soft robotics",
    author = "Claudio Pacchierotti and Federico Ongaro and {van den Brink}, Frank and ChangKyu Yoon and Domenico Prattichizzo and Gracias, {David H.} and Sarthak Misra",
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    Pacchierotti, C, Ongaro, F, van den Brink, F, Yoon, C, Prattichizzo, D, Gracias, DH & Misra, S 2018, 'Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance', IEEE transactions on automation science and engineering, vol. 15, no. 1, 7820145, pp. 290-306. https://doi.org/10.1109/TASE.2016.2635106

    Steering and Control of Miniaturized Untethered Soft Magnetic Grippers With Haptic Assistance. / Pacchierotti, Claudio; Ongaro, Federico (Corresponding Author); van den Brink, Frank; Yoon, ChangKyu; Prattichizzo, Domenico; Gracias, David H.; Misra, Sarthak.

    In: IEEE transactions on automation science and engineering, Vol. 15, No. 1, 7820145, 17.01.2018, p. 290-306.

    Research output: Contribution to journalArticleAcademicpeer-review

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