SHaDe, a new 3-DOF haptic device

Birglen, Lionel; Gosselin, Clément; Pouliot, Nicolas; Monsarrat, Bruno; Laliberté, Thierry

doi:10.1109/tra.2002.999645

Cited by 128 publications

(53 citation statements)

References 23 publications

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“…Parallel mechanisms are notorious for their anisotropy, where the ratio between input and output changes dramatically throughout the workspace. Having ξ > 0.5 throughout the usable workspace should lead to a well-behaved system with a more uniform velocity profile and accuracy across the workspace [21]. The global conditioning index (GCI), η, was proposed in [22] as a measure of the global behavior of the manipulator condition number, defined as…”

Section: Mechanism Isotropy and Optimizationmentioning

confidence: 99%

Design and control of a parallel linkage wrist for robotic microsurgery

Değirmenci

Hammond

Gafford

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-This paper presents the design and control of a teleoperated robotic system for dexterous micromanipulation tasks at the meso-scale, specifically open microsurgery. Robotic open microsurgery is an unexplored yet potentially a high impact area of surgical robotics. Microsurgical operations, such as microanastomosis of blood vessels and reattachment of nerve fibers, require high levels of manual dexterity and accuracy that surpass human capabilities. A 3-DoF robotic wrist is designed and built based on a spherical five-bar mechanism. The wrist is attached to a 3-axis commercial off-the-shelf linear stage, achieving a fully dexterous system. Design requirements are determined using motion data collected during a simulated microanastomosis operation. The wrist design is optimized to maximize workspace and manipulability. The system is teleoperated using a haptic device, and has the required bandwidth to replicate microsurgical motions. The system was successfully used in a micromanipulation task to stack 1 mm-diameter metal spheres. The micromanipulation system presented here may improve surgical outcomes during open microsurgery by offering better accuracy and dexterity to surgeons.

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Section: Mechanism Isotropy and Optimizationmentioning

confidence: 99%

Design and control of a parallel linkage wrist for robotic microsurgery

Değirmenci

Hammond

Gafford

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…The designs presented in (Gosselin & Hamel, 1994) and (Birglen et al, 2002) use a special class of the geometry which lead to a simplification of the forward kinematics problem. The geometry of SPBS also takes into account some implicit design by explicitly defining coplanar active joints.…”

Section: Advances In Haptics 174mentioning

confidence: 99%

Analysis and Experimental Study of a 4-DOF Haptic Device

Ma¹,

Payandeh²

2010

Advances in Haptics

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“…[13], an articulated desktop robotic device called Rhino XR4 is proposed to be used as an educational robotic workstation with graphical user interface for students to perform experiments. Moreover, in the literature, a variety of robot design and development studies are presented for haptic applications [14][15][16][17][18]. The results in Refs.…”

Section: Introductionmentioning

confidence: 99%

Design and development of an educational desktop robot R³D

Şahin¹,

Uzunoğlu²,

Tatlıcıoğlu

et al. 2017

Comp Applic In Engineering

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Robotic desktop devices have been used for academic purposes for a variety of investigation and development studies. Desktop devices for academic/educational purposes have been highly anticipated especially in the fields of haptics, teleoperation systems, and control studies. This paper's motivation is to present the steps of designing, manufacturing, and implementing of Educational Desktop Robot R 3 D to be used for haptics, teleoperation, and redundancy control studies. The design, manufacturing details, kinematic, and dynamic model of the robot are described in the manuscript. Additionally, a case study is carried out for end effector control in task space is given and the results are shared. ß 2017 Wiley Periodicals, Inc. Comput Appl Eng Educ 25:222-229, 2017; View this article online at wileyonlinelibrary.com/journal/cae;

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SHaDe, a new 3-DOF haptic device

Cited by 128 publications

References 23 publications

Design and control of a parallel linkage wrist for robotic microsurgery

Design and control of a parallel linkage wrist for robotic microsurgery

Analysis and Experimental Study of a 4-DOF Haptic Device

Design and development of an educational desktop robot R³D

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SHaDe, a new 3-DOF haptic device

Cited by 128 publications

References 23 publications

Design and control of a parallel linkage wrist for robotic microsurgery

Design and control of a parallel linkage wrist for robotic microsurgery

Analysis and Experimental Study of a 4-DOF Haptic Device

Design and development of an educational desktop robot R3D

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Product

Resources

About

Design and development of an educational desktop robot R³D