Design of a 5-DOF Haptic Simulator for Urological Operations

A new haptic feedback mechanism with five active degrees of freedom (dof), part of a training simulator for urological operations, is presented. The mechanism consists of a 2-dof 5-bar linkage, and a 3dof spherical joint. To reproduce very small forces and moments, the mechanism has low friction, inertia and mass, is statically balanced, and has a simple mass matrix. Roll-pitch-yaw motions of the tool result in motions of the corresponding actuator. Force feedback transmission is achieved via capstan drives and idler pulleys. The computation of the currents and the structure of the control loop are described.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Evangelos Papadopoulos, Kostas Vlachos, Dionyssios Mitropoulos
• Keywords: 2-dof 5-bar Linkage, Force Feedback Transmission, Haptic Feedback Mechanism, ICRA 2002, Robotics