Abstract
In this paper, Haptic End-effector for Medicine and Manufacturing (HEM2) with five degree of freedom (DoF) motion is developed for safer and more intuitive robotic surgery. In resent years, multi DoF forceps robots have been studied and developed to support surgeons. However, conventional multi DoF forceps robots cannot transmit force sensation to surgeons adequately. Force sensation is important for safe and accurate teleoperation. In this paper, a master-slave five DoF HEM2 is developed as a haptic forceps robot. Five DoF motion corresponds with the motion of human hand which can realize complex tasks. By implementing acceleration based bilateral control, force sensation can be transmitted. Spherical joint driven by parallel link mechanism realizes the bending motion of the end-effector. The coaxial driving power transmission mechanism is used to decrease the weight of movable part and improve backdrivability. Besides, the mechanism is composed of rigid parts. The performance of the five DoF HEM2 is validated by experiments.
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