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Perception et interface haptique pour les nanosciences

Abstract : Teleoperation is a unique way to interact at micro- and nanoscopic scales where the limits of human sensory perception are exceeded. The applications such as micro/nanosystems design or nanotechnology teaching may develop in this promising research field. This work investigates the issue of haptic perception and device for nanoscience, from the point of view of potential users. The key points of this work are organized in two parts. The first part describes a detailed analysis of user perception with a set of evaluations, first, on task-based experiments (where the perception of the phenomena is not essential compared to the achievement of the task), then, on experiments based on the understanding of the phenomena in an education context. The core of this analysis is based on the development of a simulation setup and the research of haptic aids dedicated to complex manipulation strategies and of behavioral analogies for the understanding of atomic force microscopy. The second part addresses the design of a high-fidelity haptic device for rendering nanoscale forces. A novel approach of actuation is proposed, consisting of two viscously coupled motors, in order to provide a large dynamic scale and a very small inertia. The two prototypes developed show that this system can approach or exceed human motor and sensory performance.
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Contributor : Guillaume Millet <>
Submitted on : Thursday, January 13, 2011 - 10:02:39 PM
Last modification on : Friday, March 22, 2019 - 1:30:57 AM
Document(s) archivé(s) le : Tuesday, November 6, 2012 - 11:26:11 AM


  • HAL Id : tel-00555597, version 1


Guillaume Millet. Perception et interface haptique pour les nanosciences. Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2009. Français. ⟨tel-00555597⟩



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