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The goal of this research project is a novel haptic tele-manipulation environment. This includes an interface between a master haptic mechanism and a slave mechatronic mechanism for biomedical operations. The novelty stems from the fact that the environment's slave is a micromechatronic device driven by two inexpensive centripetal force vibration micromotors. The environment employs three input modes and two force control phases. Experimentation results show that, while the interaction between the haptic mechanism and the vibration driven device is complicated, the micromanipulation of the device can be successful and appear to the operator as simple.

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