Laser-actuated multi-fingered hand for dexterous manipulation of micro-objects
Dexterous robotic manipulation refers to the coordination of multiple fingers or manipulators to grasp and manipulate a target object. In past decades, various achievements have been established in dexterous robotic manipulation in the physical world. However, such dexterous ability is rarely found...
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sg-ntu-dr.10356-1692512023-07-14T15:39:35Z Laser-actuated multi-fingered hand for dexterous manipulation of micro-objects Ta, Quang Minh Khan, Gulam Dastagir Li, Xiang Cheah, Chien Chern School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Dexterous Manipulation Micro-Manipulation Dexterous robotic manipulation refers to the coordination of multiple fingers or manipulators to grasp and manipulate a target object. In past decades, various achievements have been established in dexterous robotic manipulation in the physical world. However, such dexterous ability is rarely found in nano/micro manipulation, which is mainly due to the difficulty in developing actuators and sensors at a nano/micro-scale, as well as the dependence on the physical properties of objects. As a result, only limited and relatively simple micro-manipulation tasks such as pushing and picking have been realized so far. Here, we demonstrate a platform to achieve dexterous manipulation in the micro-world by developing a micro multi-fingered hand that is actuated by optical traps. The system consists of several micro laser-actuated fingers which are coordinated to function as a robotic micro-hand. Each micro-finger is configured with three degrees of freedom in a 2-dimensional space, and a system composed of coordinated micro-fingers can then be utilized for grasping, rotating, moving, and even levering and rolling of objects in micron scale. Thus, the proposed approach in this paper establishes a foundation in achieving dexterous robotic manipulation of objects at micron scale through the coordination of multiple micro-fingers. Ministry of Education (MOE) Published version This work was supported in part by the Ministry of Education, Singapore, through the Academic Research Fund Tier 1, under Project RG65/22; and in part by the National Natural Science Foundation of China under Grant 52075290. 2023-07-10T06:09:00Z 2023-07-10T06:09:00Z 2023 Journal Article Ta, Q. M., Khan, G. D., Li, X. & Cheah, C. C. (2023). Laser-actuated multi-fingered hand for dexterous manipulation of micro-objects. IEEE Access, 11, 29650-29660. https://dx.doi.org/10.1109/ACCESS.2023.3261558 2169-3536 https://hdl.handle.net/10356/169251 10.1109/ACCESS.2023.3261558 2-s2.0-85151497541 11 29650 29660 en RG65/22 IEEE Access © 2023 The authors. This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License. For more information, see https://creativecommons.org/licenses/by-nc-nd/4.0/ application/pdf |
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Engineering::Electrical and electronic engineering Dexterous Manipulation Micro-Manipulation Ta, Quang Minh Khan, Gulam Dastagir Li, Xiang Cheah, Chien Chern Laser-actuated multi-fingered hand for dexterous manipulation of micro-objects |
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Dexterous robotic manipulation refers to the coordination of multiple fingers or manipulators to grasp and manipulate a target object. In past decades, various achievements have been established in dexterous robotic manipulation in the physical world. However, such dexterous ability is rarely found in nano/micro manipulation, which is mainly due to the difficulty in developing actuators and sensors at a nano/micro-scale, as well as the dependence on the physical properties of objects. As a result, only limited and relatively simple micro-manipulation tasks such as pushing and picking have been realized so far. Here, we demonstrate a platform to achieve dexterous manipulation in the micro-world by developing a micro multi-fingered hand that is actuated by optical traps. The system consists of several micro laser-actuated fingers which are coordinated to function as a robotic micro-hand. Each micro-finger is configured with three degrees of freedom in a 2-dimensional space, and a system composed of coordinated micro-fingers can then be utilized for grasping, rotating, moving, and even levering and rolling of objects in micron scale. Thus, the proposed approach in this paper establishes a foundation in achieving dexterous robotic manipulation of objects at micron scale through the coordination of multiple micro-fingers. |
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School of Electrical and Electronic Engineering |
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School of Electrical and Electronic Engineering Ta, Quang Minh Khan, Gulam Dastagir Li, Xiang Cheah, Chien Chern |
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Article |
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Ta, Quang Minh Khan, Gulam Dastagir Li, Xiang Cheah, Chien Chern |
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Ta, Quang Minh |
title |
Laser-actuated multi-fingered hand for dexterous manipulation of micro-objects |
title_short |
Laser-actuated multi-fingered hand for dexterous manipulation of micro-objects |
title_full |
Laser-actuated multi-fingered hand for dexterous manipulation of micro-objects |
title_fullStr |
Laser-actuated multi-fingered hand for dexterous manipulation of micro-objects |
title_full_unstemmed |
Laser-actuated multi-fingered hand for dexterous manipulation of micro-objects |
title_sort |
laser-actuated multi-fingered hand for dexterous manipulation of micro-objects |
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2023 |
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https://hdl.handle.net/10356/169251 |
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1772828535109451776 |