A Microrobotic Approach for the Intuitive Assembly of Industrial Electrooptical Sensors Based on Closed-Loop Light Feeling

This article deals with an original haptic teleoperation and human–robot interaction (HRI) for microrobotic tasks involving optics more generally light information. It aims to demonstrate the proof of concept using information in component alignment submicrometer accuracy. The case study focuses on a laser optical fiber active surface photodiode system pantograph. Since error $1\,\mu \text{m}$ leads loss than 35 notation="LaTeX">$\%$ signal transmission, it is shown that transparency pantograph key element success operation. A user evaluation performed quantify interest acceptability different HRI scenarios proposed this work. result shows effectiveness methods when interface managed disturbance observer. allows human experience small variations intensity, typically few notation="LaTeX">$\mu \text{W}$ , over large range, several hundred . capability enables participant intuitively align region sub- accuracy rate about 94.7%.