相关论文: Haptics in Micro- and Nano-Manipulation

Beam splitters are pivotal components in integrated microwave and photonic systems. However, conventional designs based on directional coupling or multi-mode interference often suffer from back scattering, frequency-dependent splitting…

Microelectromagnet devices, a ring trap and a matrix, were developed for the microscopic control of biological systems. The ring trap is a circular Au wire with an insulator on top. The matrix has two arrays of straight Au wires, one array…

This study introduces the integration of hybrid magnetic and electric actuation mechanisms to achieve advanced motion capabilities for Janus particle (JP) microrobots. We demonstrate enhanced in-plane motion control through versatile…

The demonstrations of micro-robotic systems in minimally invasive medicine include an individual or a swarm of microswimmer of various origin, artificial or biohybrid, often with an external computer-controlled electromagnetic field. There…

This paper presents an overview and discussion of magnetocapillary self-assemblies. New results are presented, in particular concerning the possible development of future applications. These self-organizing structures possess the notable…

The development of robotic grippers and hands for automation aims to emulate human dexterity without sacrificing the efficiency of industrial grippers. This study introduces Rotograb, a tendon-actuated robotic hand featuring a novel…

Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…

Soft robots have a myriad of potentials because of their intrinsically compliant bodies, enabling safe interactions with humans and adaptability to unpredictable environments. However, most of them have limited actuation speeds, require…

Rapid and versatile object manipulation in air is an open challenge. An energy-efficient and adaptive soft gripper combined with an agile aerial vehicle could revolutionize aerial robotic manipulation in areas such as warehousing. This…

Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…

As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…

Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile bases with static manipulator arms. They combine these…

In-operando techniques enable real-time measurement of intricate physical properties at the micro- and nano-scale under external stimuli, allowing the study of a wide range of materials and functionalities. In nanomagnetism, in-operando…

In this paper we propose an approach for efficient grasp selection for manipulation tasks of unknown objects. Even for simple tasks such as pick-and-place, a unique solution is rare to occur. Rather, multiple candidate grasps must be…

Although general purpose robotic manipulators are becoming more capable at manipulating various objects, their ability to manipulate millimeter-scale objects are usually very limited. On the other hand, ultrasonic levitation devices have…

Haptic rendering enables people to touch, perceive, and manipulate virtual objects in a virtual environment. Using six cascaded identical hollow disk electromagnets and a small permanent magnet attached to an operator's finger, this paper…

In this paper, a controller design targeting the remotely operated hydraulic drive system is presented. A two-degrees-of-freedom PID position controller is used, which is designed so that to maximize the integral action under robust…

Bilateral teleoperation of an aerial manipulator facilitates the execution of industrial missions thanks to the combination of the aerial platform's maneuverability and the ability to conduct complex tasks with human supervision.…

This work focuses on closed-loop control based on proprioceptive feedback for a pneumatically-actuated soft wearable device aimed at future support of infant reaching tasks. The device comprises two soft pneumatic actuators (one…

Many organisms leverage an interplay between shape and activity to generate motion and adapt to their environment. Embedding such feedback into synthetic microrobots could eliminate the need for sensors, software, and actuators, yet current…