Abstract
Intuitive operating of the two-finger micro-manipulator used for handling cells requires a feasible interface. We developed a new haptic interface that has sufficient number of DOF for using the micro-manipulator. The haptic interface satisfies following three properties: 1. a parallel link mechanism for precise manipulation, 2. the two-finger of micro-manipulation is regarded as a thumb and an index finger for intuitive handling, 3. the compact sized interface used with a microscope. The micro-manipulator equips a force sensor, so grasping force is able to be felt through the interface. The developed interface is composed of two asymmetrical parallel-link structures for fulfilling the properties.
