F-1219 マイクロ・ナノ作業のための視覚とハンドの協調(S46-1 マイクロ・ナノ作業(1))(S46 マイクロ・ナノ作業)

概要

論文の詳細を見る
A dexterous micromanipulation system was developed for applications such as assembling micro machines, manipulating cells and microbes, microsurgery. By old research, it turns out that there are various problems. The major problem is its weak visual feedback due to the limited focusing range in a microscope. High magnification, like 500 to 1000 times, is required to observe micrometer order scale objects where the focusing range is limited to only a few micrometer. Thus, it is very difficult to keep the hand tip and/or objects in its focusing scope, and consequently an operator feels difficulty even in simple tasks. There might be some ways to cope with this problem including an auto focusing or wide focusing techniques. The paper will discus an auto focusing technique based on microscope vision data.
社団法人日本機械学会の論文
2001-08-22