Teleoperation control scheme for magnetically actuated microrobots with haptic guidance
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RESEARCH PAPER
Teleoperation control scheme for magnetically actuated microrobots with haptic guidance Ehab Al Khatib1 · Xiao Zhang1 · Min Jun Kim1 · Yildirim Hurmuzlu1 Received: 1 April 2020 / Revised: 22 July 2020 / Accepted: 28 July 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract An external magnetic field can be used in remotely controlling magnetic microrobots, making them promising candidates for diverse biomedical applications, including cell manipulation and therapy. This paper presents a teleoperation scheme to control magnetically actuated microrobots. The system was developed to allow human operators to control the motion for magnetically actuated microrobots and feel their interactions with the environment. The potential applications of the presented system will be in targeted drug delivery, micro-assembly, and biopsy procedures. A haptic interface constituted the core of the teleoperation system. It was used to provide the operator with force feedback to control the microrobots. In particular, virtual interaction forces were computed and transmitted to the human operators to guide them in performing path following tasks. The operating field of the microrobots was haptically rendered to avoid contacts with obstacles. Finally, a basic set of experimental trials were conducted, demonstrating that the average path tracking error was reduced by 67% when haptic feedback was used. Keywords Microrobot · Teleoperation · Haptic · Motion control · Magnetically actuated robot
1 Introduction Microscale robots, especially untethered ones, have been intensively investigated due to the many possible applications: micro-manipulation, micro-fabrication, drug delivery, tissue manipulation, in situ sensing, cell therapy and in vivo diagnostics [1]. For example, in biomedical applications, microrobots can act as co-robots that directly work on human patients, alongside healthcare providers, performing critical medical procedures. Such ideas have deep roots in popular culture and may even be considered the final frontier of medical microrobotics [2]. While most of the
This work was funded by the National Science Foundation (CMMI 1623324) Electronic supplementary material The online version of this article (https://doi.org/10.1007/s12213-020-00137-0) contains supplementary material, which is available to authorized users. Yildirim Hurmuzlu
[email protected] 1
Department of Mechanical Engineering, Southern Methodist University, Dallas, TX 75275, USA
microrobots presented here are based on autonomous techniques [1, 3–5], there is increasing importance in humanin-the-loop strategies. For safety, public acceptance, and responsibility [6], it is helpful to equip human operators with efficient and intuitive ways for manipulating the microrobots. One such way is haptic feedback, making it an important approach in these human-in-the-loop teleoperation schemes [7, 8]. Thus far, several haptic feedback devices have been developed to control and manipulate microrobots. Bhatti et al. [9] designed
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