Design and Control of a 3 Degree-of-Freedom Parallel Passive Haptic Device

Łącki, Maciej; Rossa, Carlos

doi:10.1109/toh.2020.2983037

Cited by 8 publications

(3 citation statements)

References 34 publications

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“…[111,113] Therefore, they have been widely implemented in commercial haptic interfaces such as Geomagic Touch from 3D systems, Omega.3 from Force Dimension, or other developing haptic devices. [114] Pneumatic actuators are another alternative option tor electric motors as they offer a low mass and employ compressed gasses to generate a mechanical motion with a wide range of motion. [115] These features allow for the realization of sophisticated, multi-DOF kinematic structures in a compact package, making them highly suited for haptic interfaces at the master console.…”

Section: Conventional Actuatorsmentioning

confidence: 99%

“…[135] Unfortunately, passive actuators can only generate forces in the opposite direction of the input velocity, making controlling the direction of the output force in multi-DOF devices difficult. [114] Electroactive polymers (EAP) are a promising technology that can result in a change in shape or size with electrical stimulation. Their advanced features include great power efficiency, high flexibility, high dynamics, resilience to damage, and being light in weight, making them highly suited for wearable devices where compliance and adaptability to complex surfaces are desired.…”

Section: Emerging Actuatorsmentioning

confidence: 99%

Section: Haptic Technologies For Advanced User Interfacesmentioning

confidence: 99%

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Advanced User Interfaces for Teleoperated Surgical Robotic Systems

Nguyễn

Wong

Thai

et al. 2023

Advanced Sensor Research

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In recent years, advances in modern technology have altered the practice of surgery from open to minimally invasive surgery (MIS) aided by robots. Teleoperated surgical robotic systems (TSRSs) provide numerous significant benefits for MIS over traditional approaches, including improved safety, more efficient and precise surgery, better cosmesis, shorter recovery time, and reduced postoperative pain. Existing TSRSs' master consoles, with improvements in vision systems, designs, and control methods, have significantly enhanced human-robot interactions, resulting in safer and more accurate medical intervention operations. Despite advances, haptic technologies, including sensors, machine assistance, and intuitive devices for user interfaces, are still limited, resulting in less effective usage of TSRSs for surgical operations. This review presents a summary of the emerging TSRSs with a focus on their user interfaces. In addition, advanced sensing, haptic, smart garments, and medical image artificial intelligence (AI) assistance technologies are shown with their potential for use in master consoles of the TSRSs are shown. Finally, a discussion on the need for a smart human-robot interface for TSRSs is given.

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