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Projet ANR- 16-CE33-0002

 


INTERACTIVE


OPTICAL TWEEZERS


WITH TACTILE FEEDBACK



Sinan HALIYO, Ph.D, Associate Professor, is the project coordinator. He's the
leader of 'Multi-scale Interactions' group at ISIR/Sorbonne.

 

Michaël WIERTLEWSKI, Ph.D, was a CNRS researcher at the Etienne-Jules Marey
Institute.


THE CONSORTIUM










Edison GERENA

PhD Candidate

ISIR/Sorbonne

Florent LEGENDRE

Engineer

ISIR/Sorbonne

Nicolas HULOUX

PhD Candidate

ISM/AMU



Stéphane Violet, Thibaut Raharijaona

 

Stéphane Régnier, Vincent Hayward



Julien

DIPERI

Engineer

ISM/AMU


TOUCHING THE MICROWORLD

What if you could touch objects smaller then the width of your hair and perceive
their universe ?

 








This is the aim of IOTA Project, funded by ANR France. We are using the power of
light to manipulate cells and molecules, and let the user control and feel the
interaction with his fingertips.

Fundamental mechanisms of the Universe stem from the microscale phenomena

Understanding and controlling small scales is the current challange in Physics,
Biology, Chemistry & Engineering


 * An interactive instrument for exploration, manipulation and characterization
   at small scales
 * Biomedical applications, microassembly
 * Tactile force-feedback user interface
 * Transscale coupling and natural interaction


A BRAND-NEW SCIENTIFIC INSTRUMENT


OPTICAL TWEEZERS

2018 Nobel prize in Physics were awarded to A. Ashkin for Optical Tweezers. We
take it one step further by integrating real-time high-band force feedback,
measuring interactions forces in picoNewton range


SURFACE HAPTICS

Directly modifying the friction of the bare finger sliding on glass using
ultrasonic vibrations enables the production of virtual relief, texture and
buttons on touchscreens.


THE TECHNOLOGY




PROJECT ORGANISATION




SURFACE HAPTICS



Capabilities

 * Modulates fingertip friction digitally
 * Continuous and transients features
 * High-bandwidth position measurement

Challenges

 * Variability of friction force
 * Effect of pressing force


SUBTITLE


PRINCIPLE





OVERCOMING VARIABILITY




HIGH FIDELITY VERSION

 

 * 1 kHz refresh rate
 * 50mN force resolution
 * 100µm position resolution




EFFECT ON INCIPIENT SLIPPAGE





OPTICAL TWEEZERS

 * A tightly focused laser beam to trap micro objects (1 - 5 µm)
 * Non-contact multi object manipulation
 * Laser wavelength : 1070nm
 * Lase power: 400mW

 * 3D force measurement  :
 * High bandwidth position measurement with an asynchronous camera
 * Trap stiffness calibration





3D ACTUATION AND MEASUREMENT




Design of the optical path


MULTITRAP OPTOBOTS






MICROROBOTS OPTIQUES




Des microrobots produits par impression 3D (nanoscribe)

 * Téléopérés en 6D en milieu liquide
 * Capture d'efforts d'interaction
 * Actionnement sans contact
 * Outils terminaux variés
 * Biocompatibles


PUBLICATIONS AND EVENTS

 * Ultrasonic friction modulation modifies the area of contact, not the shear
   strength, IEEE Eurohaptics 2022, Hambourg, Germany

 * Interactive Laser-actuated micro-robots for Experimental Biology.
   International Symposium on Optomechatronic Technology (ISOT) 2021 - Best
   Paper Award

 * Étude de la réflexion et de l'absorption des ondes ultrasonores par le doigt
   : application aux surfaces haptiques. Thèse de Doctorat de AMU 2021, Nicolas
   Huloux

 * 6-DoF Optical-driven Micro-robots with Force Feedback Capabilities for
   Interactive Bio-manipulation. Thèse de Doctorat de Sorbonne Université 2020,
   Edison Gerena, GDR Robotique Prix de la Thèse

 * Tele–Robotic Platform for Dexterous Optical Single-Cell Manipulation.
   Micromachines, 2019

 * Improving optical micromanipulation with force-feedback bilateral coupling.
   ICRA 2020, Paris, France

 * Robotic Optical-micromanipulation Platform for Dexterous Remote Single-Cell
   Manipulation. MARSS 2019 July, Helsinki, Finland

 * High-bandwidth 3D Multi-Trap Actuation Technique for 6-DoF Real-Time Control
   of Optical Robots, IEEE Robotics and Automation Letters 2019  [DOI]

 * Overcoming fingertip friction variability with surface haptics
   force-feedback, In proc. of Eurohaptics 2018, Pisa, Italy. Best Student Paper
   award  [DOI]

 * Perception of ultrasonic switches involves large discontinuity of the
   mechanical impedance,     IEEE Transactions on Haptics [DOI]

 * High-bandwidth 3D Force Feedback Optical Tweezers for Interactive
   Bio-manipulation. 2017 IEEE/RSJ International Conference on Intelligent
   Robots and Systems (IROS), Vancouver, Canada. Best Student Paper nominee
   [DOI]

 

Voir sur HAL


PUBLIC PRESENTATIONS

 * Salon Forum Labo 2017, Paris

 * Salon ELRIG 2017, Monaco

 * Demonstration Worldhaptics 2017

 * Demonstration Eurohaptics 2018




VALORISATION

Etude du marché (SATT Lutech)

Recherche de Partenaires Biomédicale/pharmacologie:

      Instituts Pasteur, de Vision, de Cerveau et de la moelle épinière

 

Transfert Industriel:

     Création Stratup,

     Programme CNRS RISE, i-Phd Bpifrance

 

DIM-Elicit: « Technologies Innovantes

                          pour les Sciences de la Vie »

 

Enseignement:

        Cours de M2 commun AMU / UPMC

 




1 . 1



Resume presentation
Projet ANR- 16-CE33-0002 Interactive Optical Tweezers with Tactile Feedback

ANR - INTERACTIVE OPTICAL TWEEZERS WITH TACTILE FEEDBACK

By Sinan Haliyo




ANR - INTERACTIVE OPTICAL TWEEZERS WITH TACTILE FEEDBACK

 * a year ago
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