Bilateral Macro–Micro Teleoperation Using Magnetic Levitation
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
This paper introduces a novel magnetic-haptic micromanipulation platform with promising potential for extensive biological and biomedical applications. The platform has three basic subsystems: a magnetic untethered microrobotic system, a haptic device, and a scaled bilateral teleoperation system. A mathematical force model of the magnetic propulsion mechanism is developed, and used to design PID controllers for magnetic actuation mechanism. A gain-switching position-position teleoperation scheme is employed for this haptic application. In experimental verifications, a human operator controls the motion of the microrobot via a master manipulator for dexterous micromanipulation tasks. The operator can feel force during microdomain tasks if the microrobot encounters a stiff environment. The effect of hard contact is fed back to the operator's hand in a 20 mm × 20 mm × 30 mm working envelope of the proposed platform. Conducting several experiments under different conditions, rms of position tracking errors varied from 20 to 40 μm.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it