Haptic User Interface of a Cable-Driven Input Device to Control the End Effector of a Surgical Telemanipulation System
| Autor: | Schäfer Max B., Al-Abboodi Bha A., Pott Peter P. |
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| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: | |
| Zdroj: | Current Directions in Biomedical Engineering, Vol 7, Iss 2, Pp 211-214 (2021) |
| Druh dokumentu: | article |
| ISSN: | 2364-5504 2021-2054 |
| DOI: | 10.1515/cdbme-2021-2054 |
| Popis: | In robotic telemanipulation for minimally-invasive surgery, lack of haptic sensation and non-congruent movement of input device and manipulator are major drawbacks. Input devices based on cable-driven parallel mechanisms have the potential to be a stiff alternative to input devices based on rigid parallel or serial kinematics by offering low inertia and a scalable workspace. In this paper, the haptic user interface of a cable-driven input device and its technical specifications are presented and assessed. The haptic user interface allows to intuitively control the gripping movement of the manipulator’s end effector by providing a two-finger precision grasp. By design, the interface allows to command input angles between 0° and 45°. Furthermore, interaction forces from the manipulator’s end effector can be displayed to the user’s twofinger grasp in a range from 0 N to 6 N with a frequency bandwidth of 17 Hz. |
| Databáze: | Directory of Open Access Journals |
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