Sensors and devices for a micro-teleoperation system

Abstract

Teleoperation opens up new possibilities for interaction with the micro-world. Adequate systems make it possible for human to manipulate elements on microscopic scales. An added haptic feedback provides information crucial for a natural interaction. A bilateral coupling between the subsystems offers the best haptic transparency. This thesis addresses the design of a complete haptic teleoperation chain by focusing on its key elements. Three parts are detailed: The first part describes improvements of the high fidelity one degree of freedom haptic interface designed previously. First, the precision of the forces produced is improved. This improvement is related to the measurement of the motor velocity at high sampling frequencies. Then, the device is precisely caracterized. The second part describes the design of two new force sensors designed specifically for interactions with the micro-world. The forces are measured by compensation. Two approach are observed to expand the frequencies of forces measurable by the sensors. First approach try to reduce the mass, a new sensor on a micrometric scale is built with MEMS technologies. The second approach offer a new design of the sensor. In particular, the stiffness in the guidance is removed. The third part describes the design of a new haptic interface with multiple degrees of freedom. This interface combines the performances of the one degree of freedom interface with a 2D configuration. The key elements of its design are the an air bearing for frictionless guidance and linear induction motors for reduced inertia.