The concept of “Haptic Tweezer”, a non-contact object handling system using levitation techniques and haptics

This paper proposes a new tool concept for object handling. The new tool, named “Haptic Tweezer”, is a combination of a non-contact levitation system, such as magnetic- and electrostatic levitation, and a haptic device to realize intuitive object handling. Without mechanical contact, effects such as stiction, contamination or damage to fragile parts can be avoided. In this collaborative system, the haptic device assists the operator in real time to perform an object handling task, such as Pick and Place. By linking a haptic force to the levitation position error, instability of the levitation system during the Pick Up and Place task can be reduced. It realizes an additional stiffness between the tool and the object. Applications of the Haptic Tweezer concept could be the handling of micro-objects or handling fragile objects such as silicon wafers or thin glass plates of flat panel displays (FPD), where non-contact object handling is beneficial. This paper describes the concept of Haptic Tweezer and two realized prototypes, based on magnetic levitation, are shown. Experimental results showed unique characteristics in picking up and placing, which contribute to dexterous and intuitive object handling.