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| Main Authors: | , , |
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| Format: | Preprint |
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2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2605.28448 |
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| _version_ | 1866916055760240640 |
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| author | Tan, Zongcai Wei, Lan Zhang, Dandan |
| author_facet | Tan, Zongcai Wei, Lan Zhang, Dandan |
| contents | Optical tweezers (OT) provide piconewton-scale manipulation for delicate biomedical tasks, where visuo-haptic feedback can improve operator awareness by conveying interaction-force cues and trap-stability information. However, visuo-haptic teleoperation frameworks for complex-shaped optical microrobots remain underdeveloped, particularly in multi-trap manipulation scenarios. This paper presents a digital twin framework for virtual visuo-haptic teleoperation of complex-shaped OT-driven microrobots. The framework integrates a digital twin environment, image-based pose and depth estimation, microrobot motion simulation, and model-based haptic rendering within a Robot Operating System (ROS)-connected bimanual teleoperation system. For force modeling, we combine a Multi-Sphere Distributed Manipulation (MSDM) model with optical-force estimation from the Optical Tweezers Toolbox, enabling simulator-driven visuo-haptic feedback. The framework reproduces representative microrobot motion trends and provides haptic force rendering that is numerically consistent with the fitted optical-force model. In simulated cell-delivery tasks, haptic feedback reduced the standard deviations of the contact-force metric and the microrobot-to-trap-center distance metric by 53.2% and 55.2%, respectively, and improved task success from 30% to 80%. These results demonstrate the framework's effectiveness for evaluating visuo-haptic teleoperation strategies for complex-shaped optical microrobots. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_28448 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | A Digital Twin Framework for Virtual Visuo-Haptic Teleoperation of Complex-Shaped Optical Microrobots Tan, Zongcai Wei, Lan Zhang, Dandan Robotics Optical tweezers (OT) provide piconewton-scale manipulation for delicate biomedical tasks, where visuo-haptic feedback can improve operator awareness by conveying interaction-force cues and trap-stability information. However, visuo-haptic teleoperation frameworks for complex-shaped optical microrobots remain underdeveloped, particularly in multi-trap manipulation scenarios. This paper presents a digital twin framework for virtual visuo-haptic teleoperation of complex-shaped OT-driven microrobots. The framework integrates a digital twin environment, image-based pose and depth estimation, microrobot motion simulation, and model-based haptic rendering within a Robot Operating System (ROS)-connected bimanual teleoperation system. For force modeling, we combine a Multi-Sphere Distributed Manipulation (MSDM) model with optical-force estimation from the Optical Tweezers Toolbox, enabling simulator-driven visuo-haptic feedback. The framework reproduces representative microrobot motion trends and provides haptic force rendering that is numerically consistent with the fitted optical-force model. In simulated cell-delivery tasks, haptic feedback reduced the standard deviations of the contact-force metric and the microrobot-to-trap-center distance metric by 53.2% and 55.2%, respectively, and improved task success from 30% to 80%. These results demonstrate the framework's effectiveness for evaluating visuo-haptic teleoperation strategies for complex-shaped optical microrobots. |
| title | A Digital Twin Framework for Virtual Visuo-Haptic Teleoperation of Complex-Shaped Optical Microrobots |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.28448 |