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Proceedings Paper

Design of a 7-DOF slave robot integrated with a magneto-rheological haptic master
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Paper Abstract

In this study, a 7-DOF slave robot integrated with the haptic master is designed and its dynamic motion is controlled. The haptic master is made using a controllable magneto-rheological (MR) clutch and brake and it provides the surgeon with a sense of touch by using both kinetic and kinesthetic information. Due to the size constraint of the slave robot, a wire actuating is adopted to make the desired motion of the end-effector which has 3-DOF instead of a conventional direct-driven motor. Another motions of the link parts that have 4-DOF use direct-driven motor. In total system, for working as a haptic device, the haptic master need to receive the information of repulsive forces applied on the slave robot. Therefore, repulsive forces on the end-effector are sensed by using three uniaxial torque transducer inserted in the wire actuating system and another repulsive forces applied on link part are sensed by using 6-axis transducer that is able to sense forces and torques. Using another 6-axis transducer, verify the reliability of force information on final end of slave robot. Lastly, integrated with a MR haptic master, psycho-physical test is conducted by different operators who can feel the different repulsive force or torque generated from the haptic master which is equivalent to the force or torque occurred on the end-effector to demonstrate the effectiveness of the proposed system.

Paper Details

Date Published: 11 April 2017
PDF: 6 pages
Proc. SPIE 10164, Active and Passive Smart Structures and Integrated Systems 2017, 101641Q (11 April 2017); doi: 10.1117/12.2258712
Show Author Affiliations
Yong-Hoon Hwang, Inha Univ. (Korea, Republic of)
Seung-Woo Cha, Inha Univ. (Korea, Republic of)
Seok-Rae Kang, Inha Univ. (Korea, Republic of)
Seung-Bok Choi, Inha Univ. (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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