Mikrokürelerin yapay potansiyel alanlar yardımı ile optik cımbız kullanılarak haptik manipülasyonu

Using optical tweezers (OT) and a haptic device we have manipulated microsphereshaving diameters of 3-4 µm floating in a fluid solution in order to form different patternsof coupled optical microresonators. For this purpose, biotin-coated microspheres trappedby a laser beam are steered and bound to an immobilized streptavidin-coated anchorsphere using a piezo scanner controlled by a haptic device. The positions of all spheresin the scene are detected using a CCD camera and a collision-free path for each trappedsphere is generated using an artificial potential field. The forces acting on the trappedparticle due to the viscosity of the fluid and the artificial potential field are scaled anddisplayed to the user through the haptic device for better guidance and control duringsteering. A virtual fixture is used to exert forces on the user to guide him/her whilebinding the trapped sphere to the anchor one such that the desired angle of approach andbinding strength are achieved. The proposed system is used to assemble microsphereswith controlled manipulation and accurate alignment. Our experimental studies in virtualand real environments with 8 human subjects show that haptic feedback significantlyimproves the user performance by reducing the task completion time, the number ofundesired collisions during steering, and the positional errors during binding. Due toachieved high positioning accuracy this technique can find use in constructing coupledmicrosphere resonators or coupled resonator optical waveguides. To our knowledge, thisis the first study in the literature demonstrating the benefits of haptic guidance in opticaltrapping and manipulation.