Design, manufacture and test of a 3 degree of freedom (DOF) Haptic End-Effector for the Phantom Robot
Jean Baptiste, Joseph Thierry
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In almost all haptic simulation devices, the feedback experience is always between the tool and the environment regarding the contact points. But what if the tool position changes with the same contact points? What if those contact points surround the tool like a trocar inside an abdomen? How is the user going to feel the frictional force on the tool in all three directions? Are those frictional forces the same regarding the orientation of the tool? Most of the haptic devices on the market, when they provide some force feedback on the tools, only allow the user to sense the torque; all the other axis of the tool sometimes have sensors just to monitor the tool position but no feedback force. The goal of this study is to design, build and test a relatively small 3 DOF (Degree Of Freedom) Haptic Wrist (End-Effector), attachable to a phantom robot and capable of giving force feedback in all three directions. This device will allow the user to experience a complete feedback feeling in any virtual reality simulation involving the use of a tool/handle where force feedback on that tool/handle is needed. In other words, the notion of "toolspace" is added to the notion of workspace to increase to "world" of virtual reality.