@INPROCEEDINGS{Ven05_IROS,
  AUTHOR =      "Venture,G. and Haliyo,D.S. and Micaelli,A. and Régnier,S.",
  TITLE =        {Force-feedback micromanipulation with unconditionally stable coupling},
  BOOKTITLE =    {Proc. of the IEEE/International Conference on Intelligent Robot System},
  YEAR =         {2005},
  pages =         {784-789},
  address =      {Albetra, Canada},
  month =        {August},
  abstract =     This paper presents a remote handling force feedback coupling for micromanipulation systems. In the litterature, the most generally used coupling mode is 'force-position'. This kind of control scheme is not portable and  instability is an often occuring problem. The coupling scheme proposed in this paper is based on the passivity considerations on the teleoperated systems. It is independent of the used haptic interface and the manipulator and  unconditionnaly stable regarding scaling ratios. It is experimented using the LRP's (Laboratoire de Robotique de Paris) micromanipulator, which is based on AFM architecture and uses the adhesion forces for pick-up and release
tasks. A comparison between the force-position coupling andproposed coupling is presented. Experimental results show the  good perfomances in terms of stability.},
  keywords =   {Micromanipulation, force-feedback teleoperation, passive control.},
}