In this paper, a light-weight and wearable haptic glove system is introduced which is designed for virtual environments. In order to reduce the weight of the system, micro McKibben artificial muscles are used and 2-port solenoid valve pneumatic system was developed for faster response. Hydraulic system was also developed to actuate artificial muscles, so that we can overcome softness and inaccuracy of pneumatic system due to the compressibility of air. We verify the functionality and usefulness of the proposed system by synchronizing it with a virtual environment.
An innovative single-port surgical robot has recently been developed by the Samsung Advanced Institute of Technology (SAIT). The robot can reach various surgical sites inside the abdominal cavity from a single incision on the body. It has two 7-DOF surgical tools, a 3-DOF endoscope, a flexible hyper-redundant 6-DOF guide tube, and a 6-DOF manipulator. This paper primarily focuses on the manipulator, called a slave arm, which is capable of setting the location of a Remote Center Motion (RCM) point. Because the surgical tools can explore the abdominal area through a small incision point when the RCM point is aligned with the incision area, the RCM mechanism is an integral part of the manipulator for single-port surgery. The mechanical feature, operational principle, control method, and the system architecture of the slave arm are introduced in this paper. In addition, manipulation experiments conducted validate its efficacy.
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