Compact haptic device using a pneumatic bellows for teleoperation of a surgical robot

Ryoken Miyazaki; Tomohisa Terata; Takahiro Kanno; Toshiaki Tsuji; Gen Endo; Kenji Kawashima

IROS 2015poster6 citations

Compact haptic device using a pneumatic bellows for teleoperation of a surgical robot

Ryoken Miyazaki, Tomohisa Terata, Takahiro Kanno, Toshiaki Tsuji, Gen Endo, Kenji Kawashima

Abstract

In this paper, a lightweight master interface for a surgical robot system is proposed. The position of the human hand is measured by a non-contact motion tracker, but the force feedback is realized by a handheld haptic device. A gripping force is displayed by a pneumatic bellows, which is smaller and more lightweight than electric motors. As for the slave manipulator, the gripper of a surgical forceps is actuated using a pneumatic cylinder. Force estimation is possible due to the back-drivability of the pneumatic actuator. Experimental results show the control performance of the haptic device and a constructed master-slave system.

BibTeX

@inproceedings{iros2015_compacthapticdev,
  title = {Compact haptic device using a pneumatic bellows for teleoperation of a surgical robot},
  author = {Ryoken Miyazaki and Tomohisa Terata and Takahiro Kanno and Toshiaki Tsuji and Gen Endo and Kenji Kawashima},
  booktitle = {IROS 2015},
  year = {2015}
}