Grasping and interaction force feedback in microassembly

The aim of this paper is to define role and added value of force feedback in executing microassembly tasks, as well as to demonstrate microsystem technology based sensing devices which allow registering the relevant forces. In executing microassembly processes useful forces to sense are the grasping force, i.e. the force with which the object is gripped, and the interaction force, i.e. the force resulting from the interaction of the gripped object with the environment. Based on a general assembly process analysis, the requirements for force sensing are defined. Next, devices are shown which allow the identification of the contact forces and object positions.