Sinan D Haliyo

Sinan D Haliyo
Sorbonne Université | UPMC · Institut des Systèmes Intelligents et de Robotique (ISIR)

PhD

About

109
Publications
16,303
Reads
How we measure 'reads'
A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. Learn more
1,521
Citations
Citations since 2016
35 Research Items
731 Citations
2016201720182019202020212022050100150200
2016201720182019202020212022050100150200
2016201720182019202020212022050100150200
2016201720182019202020212022050100150200
Introduction
Sinan Haliyo received his Ph.D. in 2002 from the University of Pierre & Marie Curie, Paris, and has been working up from microscale robotics to human-machine interfaces since then. He has a keen interest in mechatronic systems, VR applications and manipulation issues. Currently he leads the 'Multi-Scale Interactions' lab at ISIR (Insitut des Systèmes Intelligents et de Robotique) of Sorbonne Université, Paris.
Additional affiliations
January 2002 - present
Sorbonne Université
Education
September 1999 - December 2002
Sorbonne Université
Field of study
  • Robotics, micro-robotics
September 1998 - August 1999
Sorbonne Université
Field of study
  • Mechanical engineering

Publications

Publications (109)
Chapter
Full-text available
Actuators with low inertia and high bandwidth are of great interest for haptic devices, as they improve the quality of force rendering and transparency. This paper describes, as a proof of concept, a new design in rotary induction motors, the Axial-DSIM (Axial Double-Sided Induction Motor). This motor has a simple design construction that consists...
Chapter
In Virtual Reality, visuo-haptic illusions such as hand redirection introduce a discrepancy between the user’s hand and its virtual avatar. This visual shift can be used, for instance, to provide multiple virtual haptic objects through a single physical proxy object. This low-cost approach improves the sense of presence, however, it is unclear how...
Article
Metamaterials are solid lattices with periodicitiescommensurate with desired wavelengths. Their geometric fea-tures can endow the bulk material with unusual properties suchas, inter alia, negative indices of refraction or unique absorbingqualities. Mesoscale metamaterials can be designed to causethe occurence of phononic crystals in the ultrasonic...
Preprint
Full-text available
Haptic feedback has become crucial to enhance the user experiences in Virtual Reality (VR). This justifies the sudden burst of novel haptic solutions proposed these past years in the HCI community. This article is a survey of Virtual Reality interactions, relying on haptic devices. We propose two dimensions to describe and compare the current hapti...
Article
Presents information on the ICRA 2020 Conference.
Conference Paper
Full-text available
We present CoVR, a novel robotic interface providing strong kinesthetic feedback (100 N) in a room-scale VR arena. It consists of a physical column mounted on a 2D Cartesian ceiling robot (XY displacements) with the capacity of (1) resisting to body-scaled users’ actions such as pushing or leaning; (2) acting on the users by pulling or transporting...
Preprint
Full-text available
We present CoVR, a novel robotic interface providing strong kinesthetic feedback (100 N) in a room-scale VR arena. It consists of a physical column mounted on a 2D Cartesian ceiling robot (XY displacements) with the capacity of (1) resisting to body-scaled users' actions such as pushing or leaning; (2) acting on the users by pulling or transporting...
Article
Full-text available
Micro-teleoperated interaction with biological cells is of special interest. The low fidelity of previous systems aimed at such small scale tasks prompted the design of a novel manual bilateral cell injection system. This systems employed the coupling of a null-displacement active force sensor with a haptic device having negligible effective inerti...
Article
Full-text available
A common approach to visio-haptic human-machine interfaces adopts a simpler design by shifting grounded force feedback away from the virtual scene. The alternative design favors intuitiveness by displaying visual and grounded force feedback at the same location (i.e. visuo-haptic co-location) but requires a sensibly more complex implementation and...
Article
Full-text available
Single-cell manipulation is considered a key technology in biomedical research. However, the lack of intuitive and effective systems makes this technology less accessible. We propose a new tele–robotic solution for dexterous cell manipulation through optical tweezers. A slave-device consists of a combination of robot-assisted stages and a high-spee...
Article
Full-text available
Conducting interpenetrating polymer networks (C-IPN) are a promising solution for the design of sensing and actuating parts at macro-or microscale. This class of polymers can be used in open-air, allowing for large displacements under low voltages with a reversible process. In this work, we are mainly interested in the electromechanical characteriz...
Article
Full-text available
Active force sensors are based on the principle of force balancing using a feedback control. They allow, unlike passive sensors, the static characterization of forces without interference of the sensor mechanical properties on the estimated stiffness of the object to be studied. This capability is fundamental when dealing with the mechanical charac...
Article
Full-text available
In minimally‐invasive surgery, especially in neurosurgery, the ability to reach deep and functional structures without damage remains a major challenge. Recent breakthroughs in microtechnologies have enabled the downsizing of an increasing number of devices. In such a context, the possibility to navigate a micro‐medical device inside the human brai...
Article
Full-text available
Optical robots are micro-scale structures actuated using laser trapping techniques. However, the lack of robust and real-time 3D actuation techniques reduces most applications to planar space. We present here a new approach to generate and control synchronously in 3D several optical traps with low latency and high bandwidth (up to 200 Hz). This tim...
Article
This paper presents a novel approach to implement bilateral control loops between local haptic devices and remote industrial manipulators using a layer of simulation and virtual reality. The remote scene of manipulation has been visualized in an open-source software environment, where forward and inverse kinematics of the manipulators can be comput...
Article
Full-text available
A general-purpose method is presented and implemented to express analytically one stationary configuration of an ideal 3D elastic rod when the end-to-end relative position and orientation are imposed. The mechanical equilibrium of such a rod is described by ordinary differential equations and parametrized by six scalar quantities. When one end of t...
Article
Full-text available
Manipulation at micro and nano scales is a particular case for remote handling. Although novel robotic approaches emerge, these tools are not yet commonly adopted due to their inherent complexity and their lack of user-friendly interfaces. In order to fill this gap, this work first introduces a novel paradigm dubbed semi-autonomous. Its aim is to c...
Conference Paper
Full-text available
Optical Tweezers are considered one of the most suitable techniques for biological tasks, however the lack of automation make this technology less accessible. We present here a new 3D force sensing method with high bandwidth (up to 10Khz) which can allow implementing complex robotic approaches. Proposed technique uses high speed image tracking with...
Article
We investigate the equilibrium configurations of the ideal 3D elastica, i.e., inextensible, unshearable, isotropic, uniform, and naturally straight and prismatic rods, with linear elastic constitutive relations. Infinite solution trajectories are expressed analytically and classified in terms of only three parameters related to physical quantities....
Article
Full-text available
Scaled force feedback teleoperation is a promising approach to assist an operator engaged in a microscale task. Several systems were previously described to achieve such purpose, but much room was left for improvement, especially with regard to the specificities of bilateral coupling with very large scaling coefficients. Here, the objective is to r...
Conference Paper
Full-text available
In this paper, the conception and optimization of a new dual-stage haptic device is described. A particular attention is given to the choice of encoder. Compact, consumer grade, but low resolution encoders are particularly used. An issue arising from this particularity is the deterioration of the velocity measurement when Finite Difference method i...
Article
Full-text available
This paper deals with robust force control at the microscale for safe manipulation of deformable soft materials. Since mechanical properties of micrometer sized objects are highly uncertain, instability often occurs during a gripping task. This leads to object damage or destruction due to excessive gripping force. In this paper we propose the desig...
Conference Paper
Full-text available
Direct photometric visual servoing uses only the pure image information as a visual feature, instead of using classic geometric features such as points or lines. It was demonstrated efficiently in 6 degrees of freedom (DoF) positioning. However, in micro-scale, using only image intensity as a visual feature performs unsatisfactorily in cases where...
Article
Full-text available
We describe a manually operated, bilateral mechanical scaling instrument that simultaneously magnifies microscopic forces and reduces displacements with quasi-perfect transparency. In contrast with existing micro-teleoperation designs, the system is unconditionally stable for any scaling gains and interaction curves. In the present realization, the...
Conference Paper
This paper deals with robust gripping force control at the microscale for a safe manipulation of deformable soft materials. Since mechanical properties of micrometer sized objects are uncertain, instability often occurs during a gripping task. In this article, the design of an output feedback self-scheduled dynamic controller is proposed considerin...
Patent
Full-text available
A device, having first and second motor units, for generating a torque on an output member in response to a torque setpoint. The first motor unit includes at least one motor of a first power, or small motor, having a shaft to which the output member is connected. The second motor unit includes at least one motor of a second power higher than the fi...
Conference Paper
Full-text available
Micromanipulation tools are not yet commonly used in the industry or in the research due to the lack of natural and intuitive human-computer interfaces. This work proposes a vision based approach using a Kinect RGB-Depth sensor to provide a "metaphor-free" interface. An intention prediction approach is proposed, based on a cognitive science computa...
Conference Paper
Full-text available
Micromanipulation tools are not yet commonly used in the industry or in the research due to the lack of natural and intuitive human-computer interfaces. This work proposes a vision based approach using a Kinect RGB-Depth sensor to provide a “metaphor-free” interface. An intention prediction approach is proposed, based on a cognitive science computa...
Conference Paper
Full-text available
In this paper, an approach for 6-DoF automatic micropositioning is presented. It involves a closed-loop visual servoing scheme in order to achieve eye-to-hand positioning task in micro-scale. Instead of using classical visual features in the servoing scheme, pure image photometric information from the vision sensor is employed to compute the contro...
Conference Paper
Full-text available
Microscale teleoperation with haptic feedback re-quires scaling gains in the order of 10^4 − 10^7 . These high gains impose a trade-off between stability and transparency. Due to the conservative approach used in most designs, transparency is reduced since damping is added to the system to guarantee stability. Starting from the fact that series, ne...
Conference Paper
Full-text available
This paper describes a micro-force sensing device where a H-infinity control scheme is used to actively balance the external force and provide the measurement. The force sensing principle is based on the active control of the electrostatic bipolar actuator (comb-drive) within the sensor. An external load force acts on the sensor and displaces the p...
Conference Paper
Full-text available
This article describes an active force sensor with an accuracy of 0.4 μN over a large range [-400 to 400] μN. The mechanical structure, through a fiber suspension arrangement, provides exactly one degree of freedom. This design allows for a precise displacement sensing by a laser optical lever. The force sensing principle is based on the active con...
Article
Nanomanipulation is an important approach for recent developments in nanoscale production, characterization and analysis, both in material and life sciences. Its use is actually limited because of its complexity. Especially inside a scanning electron microscope, kinematic constraints, open-loop actuators and lack of natural visual access are barrie...
Article
A novel dual tip nanomanipulation atomic force microscope (AFM) platform operating in ambient conditions is presented. The system is equipped with a high frequency quartz piezoelectric self-sensing scanning probe for fast imaging and a passive cantilever for manipulation. The system is validated by imaging and selective pushing/pulling of gold coll...
Article
Full-text available
In this chapter we will present a brief overview on specific issues in manipulation of parts and components in the sub-millimeter range, typically from 10 -3 to 10-6 m. The scale reduction to these particular dimensions biases greatly the balance of forces present in the manipulation scene and requires a particular design philosophy in order to dev...
Conference Paper
Full-text available
Nanomanipulation is an important tool for recent developments in nanoscale production, characterization and analysis, both in material and life sciences. Its use is actually limited because of its complexity. Especially inside a scanning electron microscope, kinematic constraints, open-loop actuators and lack of natural visual access are barriers f...
Article
Full-text available
This article presents an intuitive environment for remote micromanipulation composed of both haptic feedback and virtual reconstruction of the scene. To enable nonexpert users to perform complex teleoperated micromanipulation tasks, it is of utmost importance to provide them with information about the 3-D relative positions of the objects and the t...
Article
Full-text available
Electromagnetic drives are subjected to an inherent inertia–torque tradeoff that fundamentally limits transparency: the higher the torque, the higher the inertia. We describe a dual-stage design that is not subjected to this tradeoff and that is able to approach perfect transparency for human users. It comprises a large, proximal motor and a small,...