用磁控微型机器人实现高精度远程操控，支持无接触微物操作。
Haptics in Micro- and Nano-Manipulation
- 基于磁力驱动设计无线遥操作控制框架，实现微尺度精准操控。
- 通过绝对稳定性理论验证系统闭环稳定，确保操作安全可靠。
- 实验验证了在真实触觉设备上对微机器人与微结构的组装能力。
无线磁控无缆微型设备（如微/纳米机器人）的发展旨在满足对微物体进行高精度、高灵巧性操控、分选与组装的需求。这些设备可作为微夹具或操纵器，通过直接或非直接接触方式移动微物体。在此情境下，可通过触觉遥操作系统由操作员直接遥控设备。本章目标有三：第一，提供数学框架以设计比例双边遥操作系统，实现磁控无缆微型设备对微物体的无线驱动；第二，基于绝对稳定性理论证明系统的闭环稳定性；第三，展示在触觉设备上开展的实验案例，包括对微机器人操控及微物体组装。本文还涉及电磁学与低雷诺数流体力学的基本概念，以理解触觉设备在微/纳操控应用中的稳定性与性能表现。
原文摘要 · Abstract (English)
One of the motivations for the development of wirelessly guided untethered magnetic devices (UMDs), such as microrobots and nanorobots, is the continuous demand to manipulate, sort, and assemble micro-objects with high level of accuracy and dexterity. UMDs can function as microgrippers or manipulators and move micro-objects with or without direct contact. In this case, the UMDs can be directly teleoperated by an operator using haptic tele-manipulation systems. The aim of this chapter is threefold: first, to provide a mathematical framework to design a scaled bilateral tele-manipulation system to achieve wireless actuation of micro-objects using magnetically-guided UMDs; second, to demonstrate closed-loop stability based on absolute stability theory; third, to provide experimental case studies performed on haptic devices to manipulate microrobots and assemble micro-objects. In this chapter, we are concerned with some fundamental concepts of electromagnetics and low-Reynolds number hydrodynamics to understand the stability and performance of haptic devices in micro- and nano-manipulation applications.
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