Journal article
Bilateral Macro–Micro Teleoperation Using Magnetic Levitation
Abstract
This paper introduces a novel magnetic-haptic micromanipulation platform with promising potential for extensive biological and biomedical applications. The platform has three basic subsystems: a magnetic untethered microrobotic system, a haptic device, and a scaled bilateral teleoperation system. A mathematical force model of the magnetic propulsion mechanism is developed, and used to design PID controllers for magnetic actuation mechanism. A …
Authors
Mehrtash M; Tsuda N; Khamesee MB
Journal
IEEE/ASME Transactions on Mechatronics, Vol. 16, No. 3, pp. 459–469
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
June 1, 2011
DOI
10.1109/tmech.2011.2121090
ISSN
1083-4435