构建数字孪生系统，实现复杂光学微机器人远程操作的视觉力觉反馈。
A Digital Twin Framework for Virtual Visuo-Haptic Teleoperation of Complex-Shaped Optical Microrobots
- 基于数字孪生与ROS系统，融合姿态估计与力模型实现虚拟力觉反馈。
- 力觉反馈使接触力标准差降低53.2%，定位误差减少55.2%，任务成功率从30%升至80%。
- 适合从事光学操控、远程手术或微机器人系统研究的科研人员。
光学镊子（OT）可在皮牛顿量级实现对生物组织的精细操控，通过视觉-力觉反馈可增强操作者对交互力和光阱稳定性感知。然而，针对复杂形状光学微机器人的多光阱操控场景，其视觉-力觉远程操作框架仍不成熟。本文提出一种面向复杂形状光学驱动微机器人的数字孪生框架，集成数字孪生环境、基于图像的姿态与深度估计、微机器人运动仿真及基于模型的力觉渲染，嵌入在ROS连接的双臂遥操作系统中。力模型结合多球分布式操控（MSDM）与光学镊子工具箱中的光学力估计，实现仿真驱动的视觉-力觉反馈。该框架能复现典型微机器人运动趋势，并生成与拟合光学力模型数值一致的力觉输出。在模拟细胞递送任务中，力觉反馈使接触力标准差降低53.2%，微机器人到光阱中心距离标准差减少55.2%，任务成功率由30%提升至80%。结果表明，该框架有效支持复杂形状光学微机器人视觉-力觉遥操作策略的评估。
原文摘要 · Abstract (English)
Optical tweezers (OT) provide piconewton-scale manipulation for delicate biomedical tasks, where visuo-haptic feedback can improve operator awareness by conveying interaction-force cues and trap-stability information. However, visuo-haptic teleoperation frameworks for complex-shaped optical microrobots remain underdeveloped, particularly in multi-trap manipulation scenarios. This paper presents a digital twin framework for virtual visuo-haptic teleoperation of complex-shaped OT-driven microrobots. The framework integrates a digital twin environment, image-based pose and depth estimation, microrobot motion simulation, and model-based haptic rendering within a Robot Operating System (ROS)-connected bimanual teleoperation system. For force modeling, we combine a Multi-Sphere Distributed Manipulation (MSDM) model with optical-force estimation from the Optical Tweezers Toolbox, enabling simulator-driven visuo-haptic feedback. The framework reproduces representative microrobot motion trends and provides haptic force rendering that is numerically consistent with the fitted optical-force model. In simulated cell-delivery tasks, haptic feedback reduced the standard deviations of the contact-force metric and the microrobot-to-trap-center distance metric by 53.2% and 55.2%, respectively, and improved task success from 30% to 80%. These results demonstrate the framework's effectiveness for evaluating visuo-haptic teleoperation strategies for complex-shaped optical microrobots.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。