11 April 2017 Development of haptic system for surgical robot
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Abstract
In this paper, a new type of haptic system for surgical robot application is proposed and its performances are evaluated experimentally. The proposed haptic system consists of an effective master device and a precision slave robot. The master device has 3-DOF rotational motion as same as human wrist motion. It has lightweight structure with a gyro sensor and three small-sized MR brakes for position measurement and repulsive torque generation, respectively. The slave robot has 3-DOF rotational motion using servomotors, five bar linkage and a torque sensor is used to measure resistive torque. It has been experimentally demonstrated that the proposed haptic system has good performances on tracking control of desired position and repulsive torque. It can be concluded that the proposed haptic system can be effectively applied to the surgical robot system in real field.
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Han Gyeol Gang, Jiong Min Park, Seung-Bok Choi, Jung Woo Sohn, "Development of haptic system for surgical robot", Proc. SPIE 10164, Active and Passive Smart Structures and Integrated Systems 2017, 101641N (11 April 2017); doi: 10.1117/12.2259826; https://doi.org/10.1117/12.2259826
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