Compliant Joint Demo on Bilateral Teleoperation

Last Updated on Wednesday, 15 December 2010 09:16 Written by TruongTrongToai Wednesday, 15 December 2010 07:53

In certain applications including space and surgical robotics, the desire is to use small,thin and lightweight robots and cable-driven end-effectors. Space robots are designed to be lightweight and compact for minimum liftoff cost and energy consumption during robot control, and therefore involve flexibility. Also, in surgical robots, thin instruments  are used for minimal invasiveness, which brings about advantages such as reduced trauma to the body, post-operative pain and length of hospital stay. Due to the limited space and the small diameter of the instruments, actuation of a distal wrist that is used for dexterity is performed from outside the patient and propagated to the wrist through flexible cables. ( M. Tavakoli and R.D. Howe, School of Engineering and Applied Science, Harvard University)

Schematic Diagram of a Compliant Joint

Models of the Operator, Master, Flexible Slave, and Environment

Master  Haptic Device

Slave Compliant Joint

Video

Dim lights Embed Embed this video on your site