Toward Design and Integration of a Novel 6-DOF Haptic Device

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Abstract

Haptic user interface is an electro-mechanical device that interfaces the user via the sense of touch to the virtual or remote tele-operation environment. This thesis is aimed to develop a haptic user interface device that is able to provide assistance in medical surgery. A novel design hybrid 6-DOF manipulator arm has been utilized for such application. We proposed mathematical models of the manipulator arm. We designed and developed electronic interface and application software for the device. We conducted experimental studies to evaluate the performance of the proposed haptic user interface. Results demonstrated the performance of the kinematic mapping of the device and compared the computed haptic force feedback with the measured force/moment data located at the stylus of the device. In addition, we implemented gravity compensation and passivity controller methods to enhance the stability of the haptic rendering. Results indicated significant improvement in stability and also suggested future development.

Cited Works (4)

Year	Entry
2006	Li T-m. On the Design and Development of Robotic Mechanisms for Laparoscopic Surgery [PhD thesis]. Simon Fraser University; Spring 2006.
2007	Hsu JK-c. Toward Integration of a Surgical Robotic System With Automatic Tracking, Tool Gesture and Motion Recognition [Master's thesis]. Simon Fraser University; Spring 2007.
2009	Ma AKH. Toward Integration of a Surgical Robotic Simulator With a 4-DOF Haptic Device [Master's thesis]. Simon Fraser University; Spring 2009.
1989	Craver WM. Structural Analysis and Design of a Three-Degree-of-Freedom Robotic Shoulder Module [Master's thesis]. University of Texas at Austin; 1989.