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- W2606222785 abstract "In this study, a 7-DOF slave robot integrated with the haptic master is designed and its dynamic motion is controlled.The haptic master is made using a controllable magneto-rheological (MR) clutch and brake and it provides the surgeonwith a sense of touch by using both kinetic and kinesthetic information. Due to the size constraint of the slave robot, awire actuating is adopted to make the desired motion of the end-effector which has 3-DOF instead of a conventionaldirect-driven motor. Another motions of the link parts that have 4-DOF use direct-driven motor. In total system, forworking as a haptic device, the haptic master need to receive the information of repulsive forces applied on the slaverobot. Therefore, repulsive forces on the end-effector are sensed by using three uniaxial torque transducer inserted in thewire actuating system and another repulsive forces applied on link part are sensed by using 6-axis transducer that is ableto sense forces and torques. Using another 6-axis transducer, verify the reliability of force information on final end ofslave robot. Lastly, integrated with a MR haptic master, psycho-physical test is conducted by different operators who canfeel the different repulsive force or torque generated from the haptic master which is equivalent to the force or torqueoccurred on the end-effector to demonstrate the effectiveness of the proposed system." @default.
- W2606222785 created "2017-04-28" @default.
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- W2606222785 date "2017-04-11" @default.
- W2606222785 modified "2023-09-23" @default.
- W2606222785 title "Design of a 7-DOF slave robot integrated with a magneto-rheological haptic master" @default.
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- W2606222785 doi "https://doi.org/10.1117/12.2258712" @default.
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