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2018


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Haptics and Haptic Interfaces

Kuchenbecker, K. J.

In Encyclopedia of Robotics, (Editors: Marcelo H. Ang and Oussama Khatib and Bruno Siciliano), Springer, May 2018 (incollection)

Abstract
Haptics is an interdisciplinary field that seeks to both understand and engineer touch-based interaction. Although a wide range of systems and applications are being investigated, haptics researchers often concentrate on perception and manipulation through the human hand. A haptic interface is a mechatronic system that modulates the physical interaction between a human and his or her tangible surroundings. Haptic interfaces typically involve mechanical, electrical, and computational layers that work together to sense user motions or forces, quickly process these inputs with other information, and physically respond by actuating elements of the user’s surroundings, thereby enabling him or her to act on and feel a remote and/or virtual environment.

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link (url) DOI [BibTex]

2018


link (url) DOI [BibTex]

2015


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Untethered Magnetic Micromanipulation

Diller, E., Sitti, M.

In Micro-and Nanomanipulation Tools, 13, 10, Wiley-VCH Verlag GmbH & Co. KGaA, November 2015 (inbook)

Abstract
This chapter discusses the methods and state of the art in microscale manipulation in remote environments using untethered microrobotic devices. It focuses on manipulation at the size scale of tens to hundreds of microns, where small size leads to a dominance of microscale physical effects and challenges in fabrication and actuation. To motivate the challenges of operating at this size scale, the chapter includes coverage of the physical forces relevant to microrobot motion and manipulation below the millimeter-size scale. It then introduces the actuation methods commonly used in untethered manipulation schemes, with particular focus on magnetic actuation due to its wide use in the field. The chapter divides these manipulation techniques into two types: contact manipulation, which relies on direct pushing or grasping of objects for motion, and noncontact manipulation, which relies indirectly on induced fluid flow from the microrobot motion to move objects without any direct contact.

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DOI Project Page [BibTex]

2015


DOI Project Page [BibTex]

2014


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Addressing of Micro-robot Teams and Non-contact Micro-manipulation

Diller, E., Ye, Z., Giltinan, J., Sitti, M.

In Small-Scale Robotics. From Nano-to-Millimeter-Sized Robotic Systems and Applications, pages: 28-38, Springer Berlin Heidelberg, 2014 (incollection)

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Project Page [BibTex]

2014


Project Page [BibTex]

2012


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Automated Tip-Based 2-D Mechanical Assembly of Micro/Nanoparticles

Onal, C. D., Ozcan, O., Sitti, M.

In Feedback Control of MEMS to Atoms, pages: 69-108, Springer US, 2012 (incollection)

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[BibTex]

2012


[BibTex]

2011


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Automated Control of AFM Based Nanomanipulation

Xie, H., Onal, C., Régnier, S., Sitti, M.

In Atomic Force Microscopy Based Nanorobotics, pages: 237-311, Springer Berlin Heidelberg, 2011 (incollection)

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[BibTex]

2011


[BibTex]


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Teleoperation Based AFM Manipulation Control

Xie, H., Onal, C., Régnier, S., Sitti, M.

In Atomic Force Microscopy Based Nanorobotics, pages: 145-235, Springer Berlin Heidelberg, 2011 (incollection)

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[BibTex]

[BibTex]


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Descriptions and challenges of AFM based nanorobotic systems

Xie, H., Onal, C., Régnier, S., Sitti, M.

In Atomic Force Microscopy Based Nanorobotics, pages: 13-29, Springer Berlin Heidelberg, 2011 (incollection)

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[BibTex]

[BibTex]


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Applications of AFM Based Nanorobotic Systems

Xie, H., Onal, C., Régnier, S., Sitti, M.

In Atomic Force Microscopy Based Nanorobotics, pages: 313-342, Springer Berlin Heidelberg, 2011 (incollection)

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[BibTex]

[BibTex]


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Nanomechanics of AFM based nanomanipulation

Xie, H., Onal, C., Régnier, S., Sitti, M.

In Atomic Force Microscopy Based Nanorobotics, pages: 87-143, Springer Berlin Heidelberg, 2011 (incollection)

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[BibTex]

[BibTex]


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Instrumentation Issues of an AFM Based Nanorobotic System

Xie, H., Onal, C., Régnier, S., Sitti, M.

In Atomic Force Microscopy Based Nanorobotics, pages: 31-86, Springer Berlin Heidelberg, 2011 (incollection)

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[BibTex]

[BibTex]

2010


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Nanohandling robot cells

Fatikow, Sergej, Wich, Thomas, Dahmen, Christian, Jasper, Daniel, Stolle, Christian, Eichhorn, Volkmar, Hagemann, Saskia, Weigel-Jech, Michael

In Handbook of Nanophysics: Nanomedicine and Nanorobotics, pages: 1-31, CRC Press, 2010 (incollection)

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[BibTex]

2010


[BibTex]


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Atomic-Force-Microscopy-Based Nanomanipulation Systems

Onal, C. D., Ozcan, O., Sitti, M.

In Handbook of Nanophysics: Nanomedicine and Nanorobotics, pages: 1-15, CRC Press, 2010 (incollection)

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[BibTex]

[BibTex]

2007


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Bacteria integrated swimming microrobots

Behkam, B., Sitti, M.

In 50 years of artificial intelligence, pages: 154-163, Springer Berlin Heidelberg, 2007 (incollection)

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[BibTex]

2007


[BibTex]

2005


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Geckobot and waalbot: Small-scale wall climbing robots

Unver, O., Murphy, M., Sitti, M.

In Infotech@ Aerospace, pages: 6940, 2005 (incollection)

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[BibTex]

2005


[BibTex]