History of Robotics Research and Development of Japan1997ManipulationTwo-fingered micro hand

Tatsuo Arai	Graduate School of Engineering Science, Osaka University
Tamio Tanikawa	Graduate School of Engineering Science, Osaka University

We have been developing dexterous two finger micro hands and a total micro manipulation system. Our aim is to handle and to manipulate micro object whose size ranges from one to hundreds micrometers. We have improved and refined our hand focusing on extension of workspace, simple finger setting-up procedure, force sensing capability as well as calibration, automated picking-and-placing, etc. The micro manipulation system consists of microscope with high speed CCD camera, fine force sensor, user interface devices, and low level motion controllers. We have developed two micro manipulation systems. The first system has multi-scale manipulation capability, that is, this micro hand can manipulate the objects which are in the scale of sub-micrometer to a few hundred micrometers. Moreover, this system can transport micro objects in the scale of tens of nanometers to a few millimeters. In this context, manipulation means grasping, transporting and releasing of micro objects by end effectors of micro manipulator. The second system has high speed manipulation capability, that is, this micro hand can pick and place micro objects automatically in less than 1 second with the aids of high speed camera and all-in-focusing technique. In our current project we focus on the manipulation technology for various works from nano to macro scale, and we promote interdisciplinary research works among engineering, biological and medical fields.

二本指マイクロハンド (Ver. 2002) — Two-fingered micro hand (Ver. 2002)

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