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ROMANSY 22 – Robot Design, Dynamics and Control pp 213–221Cite as

Improved Usability of a Low-Cost 5-DOF Haptic Device for Robotic Teleoperation

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Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 584))

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.

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Notes

  1. 1.

    https://www.3dsystems.com/haptics-devices/touch.

  2. 2.

    http://www.forcedimension.com/products/delta-6/overview.

References

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Author information

Authors and Affiliations

  1. Izmir Institute of Technology, Izmir, Turkey

    Gizem Ateş

  2. Department of Engineering, University of Ferrara, Ferrara, Italy

    Luca Brunetti & Marcello Bonfè

Authors
  1. Gizem Ateş
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  2. Luca Brunetti
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  3. Marcello Bonfè
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Corresponding author

Correspondence to Gizem Ateş .

Editor information

Editors and Affiliations

  1. Inst Natl des Sciences Appliquée (INSA), Rennes Cedex 7, France

    Vigen Arakelian

  2. LS2N - UMR CNRS 6004, Lab. des Sciences du Numérique de Nantes, Nantes Cedex 03, France

    Philippe Wenger

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© 2019 CISM International Centre for Mechanical Sciences

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Ateş, G., Brunetti, L., Bonfè, M. (2019). Improved Usability of a Low-Cost 5-DOF Haptic Device for Robotic Teleoperation. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_28

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