title: Haptic guidance for improved task performance in steering microparticles with optical tweezers.
abstract: We report the manipulation of 4-5 mum diameter polymer microspheres floating in water using optical tweezers (OT) and a haptic device (i.e. force-reflecting robotic arm). Trapped microspheres are steered using the end-effector of a haptic device that is virtually coupled to an XYZ piezo-scanner controlling the movements of the fluid bed. To help with the manipulations, we first calculate a collision-free path for the particle and then display artificial guidance forces to the user through the haptic device to keep him/her on this path during steering. Experiments conducted with 8 subjects show almost two-fold improvements in the average path error and average speed under the guidance of haptic feedback.
authors: Cagatay
authors: C
authors: Basdogan
authors: Alper
authors: A
authors: Kiraz
authors: Ibrahim
authors: I
authors: Bukusoglu
authors: Aydın
authors: A
authors: Varol
authors: Sultan
authors: S
authors: Doğanay