In this modern world, with the increase of complexity of many technologies, especially in the micro and nanoscale, the field of robotic manipulation has tremendously grown. Microrobots and other complex microscale systems are often to laborious to fabricate using standard microfabrication techniques, therefore there is a trend towards fabricating them in parts then assembling them together, mainly using micromanipulation tools. Here, a comprehensive and robust micromanipulation platform is presented, in which four micromanipulators can be used simultaneously to perform complex tasks, providing the user with an intuitive environment. The system utilizes a vision-based force sensor to aid with manipulation tasks and it provides a safe environment for biomanipulation. Lastly, virtual reality (VR) was incorporated into the system, allowing the user to control the probes from a more intuitive standpoint and providing an immersive platform for the future of micromanipulation.
Towards a Comprehensive and Robust Micromanipulation System with Force-Sensing and VR Capabilities
Authors: Georges Adam, Subramanian Chidambaram, Sai Swarup Reddy, Karthik Ramani, David J. Cappelleri
Subramanian Chidambaram is a Ph.D. student in the School of Mechanical Engineering at Purdue University. Before joining the C Design lab, he obtained his Master’s from the School of Aeronautics and Astronautics with a Minor in computational science and engineering from Purdue and a Bachelor’s degree in Mechanical engineering from Vellore Institute of Technology, India. His current research interest involves exploring Human-Computer Interactions and Code-less Digital interface development for Authoring Augmented Reality (AR) and Virtual Reality (VR) content, Collaboration with AR/VR, and instructional design for skill transfer using immersive reality and 3D User Interface. In addition, he has co-authored papers on tangible interfaces. In the past, he has also researched developing geometric modeling tools that guide novices to design, analyze and fabricate functional load-bearing structures.