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Proceedings Paper

Development of haptic system for surgical robot
Author(s): Han Gyeol Gang; Jiong Min Park; Seung-Bok Choi; Jung Woo Sohn
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Paper 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.

Paper Details

Date Published: 11 April 2017
PDF: 6 pages
Proc. SPIE 10164, Active and Passive Smart Structures and Integrated Systems 2017, 101641N (11 April 2017); doi: 10.1117/12.2259826
Show Author Affiliations
Han Gyeol Gang, Kumoh National Institute of Technology (Korea, Republic of)
Jiong Min Park, Kumoh National Institute of Technology (Korea, Republic of)
Seung-Bok Choi, Inha Univ. (Korea, Republic of)
Jung Woo Sohn, Kumoh National Institute of Technology (Korea, Republic of)


Published in SPIE Proceedings Vol. 10164:
Active and Passive Smart Structures and Integrated Systems 2017
Gyuhae Park, Editor(s)

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