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Title: Improved usability of a low-cost 5-DOF haptic device for robotic teleoperation
Authors: Ateş, Gizem
Brunetti, Luca
Bonfè, Marcello
Keywords: Haptic devices
Robotic teleoperation
Publisher: Springer
Abstract: The paper describes the design and application of a low-cost haptic device with five degrees of freedom (5-DOF), all of which are fully actuated for force/torque haptic display. The device is realized using two Novint Falcons, commercially available haptic devices with only translational DOF. The paper focus on the practical issues related to the use of such a haptic device as a robotic teleoperation master and provides solutions to improve its usability during an application inspired by surgical robotics, namely the teleoperated insertion of a needle into a soft tissue. Experiments demonstrate the usefulness of force feedback and virtual fixtures on both translation and orientation degrees of freedom. © 2019, CISM International Centre for Mechanical Sciences.
ISSN: 0254-1971
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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