Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots
Continuum robots are increasingly used in medical applications and the master–slave-based architectures are still the most important mode of operation in human–machine interaction. However, the existing master control devices are not fully suitable for either the mechanical mechanism or the control...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-03-01
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| Series: | Robotics |
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| Online Access: | https://www.mdpi.com/2218-6581/12/2/52 |
| _version_ | 1797603581260464128 |
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| author | Yiping Xie Xilong Hou Shuangyi Wang |
| author_facet | Yiping Xie Xilong Hou Shuangyi Wang |
| author_sort | Yiping Xie |
| collection | DOAJ |
| description | Continuum robots are increasingly used in medical applications and the master–slave-based architectures are still the most important mode of operation in human–machine interaction. However, the existing master control devices are not fully suitable for either the mechanical mechanism or the control method. This study proposes a brand-new, four-degree-of-freedom haptic joystick whose main control stick could rotate around a fixed point. The rotational inertia is reduced by mounting all powertrain components on the base plane. Based on the design, kinematic and static models are proposed for position perception and force output analysis, while at the same time gravity compensation is also performed to calibrate the system. Using a continuum-mechanism-based trans-esophageal ultrasound robot as the test platform, a master–slave teleoperation scheme with position–velocity mapping and variable impedance control is proposed to integrate the speed regulation on the master side and the force perception on the slave side. The experimental results show that the main accuracy of the design is within 1.6°. The workspace of the control sticks is −60° to 110° in pitch angle, −40° to 40° in yaw angle, −180° to 180° in roll angle, and −90° to 90° in translation angle. The standard deviation of force output is within 8% of the full range, and the mean absolute error is 1.36°/s for speed control and 0.055 N for force feedback. Based on this evidence, it is believed that the proposed haptic joystick is a good addition to the existing work in the field with well-developed and effective features to enable the teleoperation of continuum robots for medical applications. |
| first_indexed | 2024-03-11T04:34:06Z |
| format | Article |
| id | doaj.art-7fb298926c9a4136abd6d0d1fa66e75b |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-11T04:34:06Z |
| publishDate | 2023-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-7fb298926c9a4136abd6d0d1fa66e75b2023-11-17T21:14:22ZengMDPI AGRobotics2218-65812023-03-011225210.3390/robotics12020052Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical RobotsYiping Xie0Xilong Hou1Shuangyi Wang2School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 101408, ChinaCentre for Artificial Intelligence and Robotics, Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences, Hong Kong 999077, ChinaState Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, ChinaContinuum robots are increasingly used in medical applications and the master–slave-based architectures are still the most important mode of operation in human–machine interaction. However, the existing master control devices are not fully suitable for either the mechanical mechanism or the control method. This study proposes a brand-new, four-degree-of-freedom haptic joystick whose main control stick could rotate around a fixed point. The rotational inertia is reduced by mounting all powertrain components on the base plane. Based on the design, kinematic and static models are proposed for position perception and force output analysis, while at the same time gravity compensation is also performed to calibrate the system. Using a continuum-mechanism-based trans-esophageal ultrasound robot as the test platform, a master–slave teleoperation scheme with position–velocity mapping and variable impedance control is proposed to integrate the speed regulation on the master side and the force perception on the slave side. The experimental results show that the main accuracy of the design is within 1.6°. The workspace of the control sticks is −60° to 110° in pitch angle, −40° to 40° in yaw angle, −180° to 180° in roll angle, and −90° to 90° in translation angle. The standard deviation of force output is within 8% of the full range, and the mean absolute error is 1.36°/s for speed control and 0.055 N for force feedback. Based on this evidence, it is believed that the proposed haptic joystick is a good addition to the existing work in the field with well-developed and effective features to enable the teleoperation of continuum robots for medical applications.https://www.mdpi.com/2218-6581/12/2/52haptic devicegravity compensationcontinuum robotteleoperationvariable impedance control |
| spellingShingle | Yiping Xie Xilong Hou Shuangyi Wang Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots Robotics haptic device gravity compensation continuum robot teleoperation variable impedance control |
| title | Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots |
| title_full | Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots |
| title_fullStr | Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots |
| title_full_unstemmed | Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots |
| title_short | Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots |
| title_sort | design of a novel haptic joystick for the teleoperation of continuum mechanism based medical robots |
| topic | haptic device gravity compensation continuum robot teleoperation variable impedance control |
| url | https://www.mdpi.com/2218-6581/12/2/52 |
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