Force control implementation of a haptic device for a medical use

Abstract

This paper discusses the implementation of the force control of a haptic device. This device is used as a master device for a teleoperation system for minimally invasive surgery. The haptic device applies forces in the user’s hand using actuators placed in the active joints. The master device has a spherical parallel architecture. The actuated joint torques are calculated using the jacobian matrix of the master device. Experiments are carried out in order to show the feasibility of the control force feedback. A force sensor was placed on the moving platform to measure the applied force and then to compare with the desired force. The results of the comparison are satisfactory for the desired application.