Haptic Control of the Master Hand Controller for a Microsurgical Telerobot System

A microsurgical telerobot system has been developed based on the results of the operation task analysis. The telerobot system is composed of a 6-dof parallel micromanipulator attached to the macro-motion industrial robot, and a 6-dof force-reflecting haptic master device. The master device is usingfive-bar parallel mechanisms driven by harmonic DC servomotors. The proposed 6-dof master hand controller has nonlinear and coupled dynamics, and friction. Since the disturbance force owing to ji-iction, gravity and coupled inertia can distort the operator's perception, the disturbance observer has been introduced in the operational space and implemented to the microsurgery master hand controller.

• Type: Conference
• Year: 1999
• Where: ICRA
• Authors: Dong-Soo Kwon, Ki Young Woo, Hyung Suck Cho
• Keywords: 6-dof Master Hand, ICRA 1999, Master Device, Master Hand Controller, Robotics