Micro-teleoperation with manual task execution posture

This article describes a new micro-teleoperation system that is inherently suitable for micro-object handling since it mitigates several drawbacks associated with human interface devices. The system uses an upward-facing CRT display monitor mounted beneath a table. An operator performs micro-tasks in a sitting posture at the table while looking down at the monitor with a touch sensor screen situated between the operator's arms. To execute these tasks, microscope-observed images of the target objects are utilized in conjunction with the touch sensor screen and a specially designed, pencil-shaped master manipulator having a force-feedback function. The system incorporates the following characteristic features: (1) intuitive teleoperation is possible because coincidence of the operating and monitoring point is provided, (2) the pencil-shaped master manipulator enables sensitive bilateral micro-teleoperation because of its light weight and small inertia for movement, and (3) with the side of the right hand fixed in a pen-holder grip, the operator uses the master manipulator to generate commands with a wide dynamic range of force feedback, i.e., the operator can simultaneously feel force feedback during operation from both pressure/slip sensory receptors on the fingertips and sensory receptors which detects stretching of the finger muscles. The stated features are proved experimentally by the constructed micro-teleoperation prototype system. >