Motion sensor-based haptic master controller with finger band soft actuator for surgical robots

• Published in: Advanced robotics Vol. 38; no. 11; pp. 758 - 769
• Main Authors: Soga, Yuta, Hano, Soichiro, Haraguchi, Daisuke
• Format: Journal Article
• Language: English
• Published: Taylor & Francis 02.06.2024
• Subjects: haptic master device; motion capture; soft actuator; Surgical assist robot

This paper presents a motion sensor-based haptic master controller capable of static and dynamic force presentation by the newly invented Finger Band Soft Actuator (FBSA). The master controller operates a surgical assist robot using the $ 6 $ 6 degrees of freedom position and posture data tracked by...