Abstract
This paper presents a haptic device with gripping force feedback, which is a part of the microsurgery robot system developed in our lab. This device includes a master manipulator with an interactive gripping force sensing, and a relative sensing finger located at the end of the slave manipulator. Their effectiveness is tested and verified by experiments. It can be concluded from an animal experiment that this haptic device can realize the interactive gripping force sensing under the master-slave manipulation.
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