Haptic Feedback Teleoperation of Optical Tweezers

Zhenjiang Ni is a postdoctoral researcher at Institut des Systèmes Intelligents et de Robotique (ISIR) at University Pierre and Marie Curie in Paris, France. Céline Pacoret is a postdoctoral researcher at Institut des Systèmes Intelligents et de Robotique (ISIR) at University Pierre and Marie Curie in Paris, France. Ryad Benosman is a lecturer at University Pierre and Marie Curie as well as at Institut de la Vision in Paris, France. Stéphane Régnier is Professor at Institut des Systèmes Intelligents et de Robotique (ISIR) at University Pierre and Marie Curie in Paris, France.

• PREFACE  ixINTRODUCTION  xiCHAPTER 1. INTRODUCTION TO HAPTIC OPTICAL TWEEZERS  11.1. Introduction  11.2. A dexterous experimental platform 31.2.1. A dexterous micromanipulation technique  31.2.2. A dexterous user interaction for micromanipulation  51.2.3. Pioneering works  81.3. Interactive optical tweezers  101.3.1. Displacement techniques  101.3.2. Impact of the laser deflection 141.3.3. Measurement techniques 161.4. Specific designs for haptic interactions 211.4.1. Temporal sharing  221.4.2. Spatial sharing  241.5. Discussion  261.6. Conclusion  291.7. Bibliography   30CHAPTER 2. HIGH-SPEED VISION: FROM FRAME-BASED TO EVENT-BASED 452.1. High-speed cameras 452.1.1. Image data acquisition 462.1.2. Image data transmission  482.1.3. Image data processing 512.2. Silicon retinas  522.2.1. Neuromorphic engineering  522.2.2. Dynamic vision sensor (DVS) 542.2.3. Asynchronous time-based image sensor   572.3. The advantages of asynchronous event-based vision  592.3.1. Frame-based methodology 592.3.2. Event-based acquisition  602.3.3. Event-based processing 622.4. The fundamentals of event-based computation  642.5. State of the art of silicon retina applications  672.6. High-speed vision in robotics 702.6.1. Examples   712.6.2. Difficulties   742.7. Necessity of high-speed vision in microrobotics  762.7.1. Automatic control of a microrobot  762.7.2. Teleoperated micromanipulation 772.7.3. Two concrete applications 802.8. Bibliography   85CHAPTER 3. ASYNCHRONOUS EVENT-BASED 2D MICROSPHERE TRACKING  933.1. Reliable haptic optical tweezers 933.2. State of the art of high-speed microparticle tracking  953.2.1. Position detection devices 963.2.2. Candidate algorithms  983.3. Microsphere tracking using DVS 1013.3.1. Event-based continuous Hough transform  1013.3.2. Multiple microsphere tracking  1033.3.3. Brownian motion detection  1083.4. 2D haptic feedback micromanipulation with optical tweezers  1123.4.1. Strategy of haptic coupling with optical tweezer  1133.4.2. Haptic feedback optical tweezer system setup  1143.4.3. First experiments on force sensing in the microworld   1173.4.4. A comparison of frame-based and event-based vision in micromanipulation  1213.5. Conclusions  1243.6. Bibliography   125CHAPTER 4. ASYNCHRONOUS EVENT-BASED 3D MICROSPHERE TRACKING 1294.1. 3D sphere tracking methods  1304.1.1. Defocus  1314.1.2. Intensity average on frame-based images   1334.1.3. Polarity integration 1354.1.4. Extension of continuous Hough transform  1374.1.5. Robust circle fitting 1394.1.6. Summary of different methods  1434.2. 3D haptic feedback teleoperation of optical tweezers   1444.2.1. Configuration and method 1444.2.2. Z-axis force feedback  1474.3. Haptic feedback on multitrap optical tweezers   1494.3.1. Time multiplexing multitrapping by galvanometer 1494.3.2. Events-trap correspondence  1524.3.3. Multitrap experimental results  1544.3.4. Marketability 1584.4. Piezoelectric microgripper tracking for stable haptic feedback  1604.4.1. System setup 1614.4.2. Vision system 1644.4.3. Haptic coupling strategy  1674.4.4. Experimental results  1704.4.5. Interest to industry 1774.5. Conclusions  1774.6. Bibliography   178CONCLUSIONS AND PERSPECTIVES  181INDEX  187