Microhand With Internal Visual System

A pneumatically operated four-fingered micromanipulator (a microhand) with a fiber-based internal visual system is developed using microelectromechanical systems fabrication techniques. This seeing microhand transfers images generated by the optical system equipped at the palm of the microhand to an operator via an optical fiber bundle to provide the shape and distal information of objects of interest. The use of illuminating fibers along with the optical bundle enables the microhand's operation even in light-deficient environments. Such visual information informs the accurate relative location of the device and the status of manipulation to the operator in real time, who will take subsequent actions accordingly with an increased accuracy and efficiency. Embedding the fiber-based optical system inside the manipulator, instead of using an external camera setup for overall system monitoring, greatly reduces the size of the manipulator and helps increase maneuverability, particularly when operating in a space-limited work area. Tests have been conducted to verify the performance of the visually aided microhand to manipulate millimeter-sized objects in real time. Building on the ability of the UCLA microhand to gently handle irregular-shaped objects, this vision-enabled microhand is expected to provide more accurate manipulations and widen the window of applications.