TACTOM Tactile Optical Micromanipulation

Interactive tools


The ISIR microrobotics team has 10+ years of expertise in the development of interactive tools for the microworld. Our devices extend the human hand into the intangible microworld. These systems allow one to manipulate and characterize objects varying from nanotubes to cells to gears while providing the sense of touch to the operator. Four of our haptic manipulators, each addressing different object types and environments, are presented here.

     

NanoRAC
EU project 2005-2008

 

Augmented microgripper
Collaboration with
Femto-ST

 

MESCALIN
MEchanical SCALling INstrument

 

TACTOM
TACTile Optical Micromanipulation

  • Electronic microscope
 
  • Optical microscope
 
  • Portable microscope
 
  • Home-made optical microscope
  • Microgripper
 
  • Microgripper
 
  • Home-made active probe
 
  • Optical tweezers (laser trapping)
  • Interaction forces simulated by a real-time virtual reconstruction
 
  • Gripping force estimated by a model based on contour detection of the tool and sample 
 
  • Home-made microforce sensor, active force measurement principle (force balance)
 
  • Force measured by probe detection and trap stiffness
  • Force feedback user assistance by augmented reality
 
  • Force feedback user assistance by augmented reality
 
  • Real force feedback to user with stable and transparent micro-teleoperation system
 
  • Real force feedback to user
  • Commercial haptic interface (Virtuose - Haption)
 
  • Commercial haptic interface (Omega - Force dimension)
 
  • Home made high transparency haptic interface (quasi-ideal force generator)
 
  • Commercial haptic interface (Omega - Force dimension) and home made high transparency haptic interface
  • Assembly of nanotubes
 
  • Pressure control during microgear assembly
 
  • Exploration of microwold interaction (ex: capillarity)
 
  • Manipulation, characterisation and assembly of cells, molecules or microcomponents


Our team has achieved :
10 PhD theses on interactive tools  for the microworld
12 international journal articles published with peer review (Opt. Exp., Rev. Sci. Ins., T-ROB, J. Microscopy...)
20 international conference articles published with peer review (ICRA, IROS, Eurohaptics, Worldhaptics...)
1 book chapter (SAGE, Springer)
2 patents
French national press and scientific international press reviews.

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