Dual-Arm Visuo-Haptic Optical Tweezers for Bimanual Cooperative Micromanipulation of Nonspherical Objects
Cooperative manipulation through dual-arm robots is widely implemented to perform precise and dexterous tasks to ensure automation; however, the implementation of cooperative micromanipulation through dual-arm optical tweezers is relatively rare in biomedical laboratories. To enable the bimanual and...
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-10-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/13/11/1830 |
| _version_ | 1797467283147194368 |
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| author | Yoshio Tanaka Ken’ichi Fujimoto |
| author_facet | Yoshio Tanaka Ken’ichi Fujimoto |
| author_sort | Yoshio Tanaka |
| collection | DOAJ |
| description | Cooperative manipulation through dual-arm robots is widely implemented to perform precise and dexterous tasks to ensure automation; however, the implementation of cooperative micromanipulation through dual-arm optical tweezers is relatively rare in biomedical laboratories. To enable the bimanual and dexterous cooperative handling of a nonspherical object in microscopic workspaces, we present a dual-arm visuo-haptic optical tweezer system with two trapped microspheres, which are commercially available end-effectors, to realize indirect micromanipulation. By combining the precise correction technique of distortions in scanning optical tweezers and computer vision techniques, our dual-arm system allows a user to perceive the real contact forces during the cooperative manipulation of an object. The system enhances the dexterity of bimanual micromanipulation by employing the real-time representation of the forces and their directions. As a proof of concept, we demonstrate the cooperative indirect micromanipulation of single nonspherical objects, specifically, a glass fragment and a large diatom. Moreover, the precise correction method of the scanning optical tweezers is described. The unique capabilities offered by the proposed dual-arm visuo-haptic system can facilitate research on biomedical materials and single-cells under an optical microscope. |
| first_indexed | 2024-03-09T18:50:26Z |
| format | Article |
| id | doaj.art-efc06bfd93694c70be67149258ab9ae1 |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-09T18:50:26Z |
| publishDate | 2022-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-efc06bfd93694c70be67149258ab9ae12023-11-24T05:53:51ZengMDPI AGMicromachines2072-666X2022-10-011311183010.3390/mi13111830Dual-Arm Visuo-Haptic Optical Tweezers for Bimanual Cooperative Micromanipulation of Nonspherical ObjectsYoshio Tanaka0Ken’ichi Fujimoto1Faculty of Engineering and Design, Kagawa University, 2217-20 Hayashi-cho, Takamatsu 761-0396, JapanFaculty of Engineering and Design, Kagawa University, 2217-20 Hayashi-cho, Takamatsu 761-0396, JapanCooperative manipulation through dual-arm robots is widely implemented to perform precise and dexterous tasks to ensure automation; however, the implementation of cooperative micromanipulation through dual-arm optical tweezers is relatively rare in biomedical laboratories. To enable the bimanual and dexterous cooperative handling of a nonspherical object in microscopic workspaces, we present a dual-arm visuo-haptic optical tweezer system with two trapped microspheres, which are commercially available end-effectors, to realize indirect micromanipulation. By combining the precise correction technique of distortions in scanning optical tweezers and computer vision techniques, our dual-arm system allows a user to perceive the real contact forces during the cooperative manipulation of an object. The system enhances the dexterity of bimanual micromanipulation by employing the real-time representation of the forces and their directions. As a proof of concept, we demonstrate the cooperative indirect micromanipulation of single nonspherical objects, specifically, a glass fragment and a large diatom. Moreover, the precise correction method of the scanning optical tweezers is described. The unique capabilities offered by the proposed dual-arm visuo-haptic system can facilitate research on biomedical materials and single-cells under an optical microscope.https://www.mdpi.com/2072-666X/13/11/1830optical tweezerscooperative micromanipulationvisuo-haptic sensingdexterous handling |
| spellingShingle | Yoshio Tanaka Ken’ichi Fujimoto Dual-Arm Visuo-Haptic Optical Tweezers for Bimanual Cooperative Micromanipulation of Nonspherical Objects Micromachines optical tweezers cooperative micromanipulation visuo-haptic sensing dexterous handling |
| title | Dual-Arm Visuo-Haptic Optical Tweezers for Bimanual Cooperative Micromanipulation of Nonspherical Objects |
| title_full | Dual-Arm Visuo-Haptic Optical Tweezers for Bimanual Cooperative Micromanipulation of Nonspherical Objects |
| title_fullStr | Dual-Arm Visuo-Haptic Optical Tweezers for Bimanual Cooperative Micromanipulation of Nonspherical Objects |
| title_full_unstemmed | Dual-Arm Visuo-Haptic Optical Tweezers for Bimanual Cooperative Micromanipulation of Nonspherical Objects |
| title_short | Dual-Arm Visuo-Haptic Optical Tweezers for Bimanual Cooperative Micromanipulation of Nonspherical Objects |
| title_sort | dual arm visuo haptic optical tweezers for bimanual cooperative micromanipulation of nonspherical objects |
| topic | optical tweezers cooperative micromanipulation visuo-haptic sensing dexterous handling |
| url | https://www.mdpi.com/2072-666X/13/11/1830 |
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