title: Feeling what an insect feels.
abstract: We describe a manually operated, bilateral mechanical scaling instrument that simultaneously magnifies microscopic forces and reduces displacements with quasi-perfect transparency. In contrast with existing micro-teleoperation designs, the system is unconditionally stable for any scaling gains and interaction curves. In the present realization, the work done by the hand is more than a million times that done by a microscopic probe so that one can feel complete interaction cycles with water and compare them to what is felt when an insect leg interacts with a wet surface.
authors.affiliation: ISIR - Institut des Systèmes Intelligents et de Robotique, Sorbonne Universités, UPMC Univ Paris 06, UMR 7222, Paris, France.
authors.forename: Abdenbi
authors.initials: A
authors.lastname: Mohand Ousaid
authors.affiliation: ISIR - Institut des Systèmes Intelligents et de Robotique, Sorbonne Universités, UPMC Univ Paris 06, UMR 7222, Paris, France.
authors.forename: Guillaume
authors.initials: G
authors.lastname: Millet
authors.affiliation: ISIR - Institut des Systèmes Intelligents et de Robotique, Sorbonne Universités, UPMC Univ Paris 06, UMR 7222, Paris, France.
authors.forename: Sinan
authors.initials: S
authors.lastname: Haliyo
authors.affiliation: ISIR - Institut des Systèmes Intelligents et de Robotique, Sorbonne Universités, UPMC Univ Paris 06, UMR 7222, Paris, France.
authors.forename: Stéphane
authors.initials: S
authors.lastname: Régnier
authors.affiliation: ISIR - Institut des Systèmes Intelligents et de Robotique, Sorbonne Universités, UPMC Univ Paris 06, UMR 7222, Paris, France; CNRS, UMR 7222, Paris, France.
authors.forename: Vincent
authors.initials: V
authors.lastname: Hayward
mesh_terms: D000818:Animals; D007313:Insecta; D008954:Models, Biological; D014110:Touch / Q000502:physiology*