Skip to Main content Skip to Navigation
Conference papers

A Haptic Tele-operated System for Microassembly

Abstract : A tele-haptic system for microassembly applications is currently being developed at the Delft University of Technology, with the goal of achieving superior performance by providing enhanced feedback to the human operator. Assembly of a micro-harmonic drive is used as a benchmark to fully evaluate the proposed tele-haptic system by investigating the control strategies and the individual subsystems: master device, microgrippers and slave system. The master device will be comprised of a parallel robot with a built-in gripper. The slave system and end effector are focused on providing efficient and effective force feedback of the interactions on the microenvironment to the human operator, in addition to detecting position and orientation of the object being grasped. Novel control strategies are also investigated to allow the transmission of high frequency transients to the operator, carrying information from hard contact interactions between the microgripper and the part to be assembled.
Document type :
Conference papers
Complete list of metadata

Cited literature [17 references]  Display  Hide  Download
Contributor : Hal Ifip Connect in order to contact the contributor
Submitted on : Wednesday, August 13, 2014 - 12:01:56 PM
Last modification on : Tuesday, August 13, 2019 - 3:52:17 PM
Long-term archiving on: : Thursday, November 27, 2014 - 12:21:48 AM


Files produced by the author(s)


Distributed under a Creative Commons Attribution 4.0 International License



P. Estevez, S. Khan, P. Lambert, M. Porta, I. Polat, et al.. A Haptic Tele-operated System for Microassembly. 5th IFIP WG 5.5 International Precision Assembly Seminar (IPAS), Feb 2010, Chamonix, France. pp.13-20, ⟨10.1007/978-3-642-11598-1_2⟩. ⟨hal-01055677⟩



Record views


Files downloads