In this paper the model-based assessment of the workspace of a planar Cable-Driven Haptic Device for telemanipulation in the field of Robot-Assisted Surgery is presented. The Cable-Driven Haptic Device is intended to be used for the control of a flexible robot for colonoscopy. It consists of four cables and provides, depending on the endeffector design, two or three Degrees of Freedom. Different endeffector geometries and sizes were investigated and evaluated using three quantitative assessment indices regarding the resulting workspaces. In addition, a set of external wrenches is used to examine the workspace with a haptic feedback force of 5 N which can be displayed to the user at each pose. For the intended application, a point-shaped and a line-shaped endeffector design showed to be a suitable solution based on the assessment indices. This work provides a basis for further research into telemanipulation with haptic user interfaces based on Cable-Driven Parallel Robots, enabling high fidelity haptic feedback.
Model-Based Workspace Assessment of a Planar Cable-Driven Haptic Device
Mechan. Machine Science
International Conference on Cable-Driven Parallel Robots ; 2023 ; Nantes, France June 25, 2023 - June 28, 2023
2023-06-03
12 pages
Article/Chapter (Book)
Electronic Resource
English
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