Journal
APPLIED SCIENCES-BASEL
Volume 11, Issue 9, Pages -Publisher
MDPI
DOI: 10.3390/app11093823
Keywords
cable-driven parallel robot; haptic device; haptic interaction; intuitive teleoperation
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Funding
- Korea Health Technology Development R&D Project through the Korea Health Industry Development Institute (KHIDI) - Ministry of Health and Welfare, Korea [HI19C0642]
- Korea Health Promotion Institute [HI19C0642010021] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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This paper introduces a compact-sized haptic device based on a CDPR mechanism for teleoperation. By constructing a portable CDPR with control implementation, the performance was validated to successfully achieve remote operation and synchronized motion between master and slave devices.
This paper presents a compact-sized haptic device based on a cable-driven parallel robot (CDPR) mechanism for teleoperation. CDPRs characteristically have large workspaces and lightweight actuators. An intuitive and user-friendly remote control has not yet been achieved, owing to the unfamiliar multiple-cable configuration of CDPRs. To address this, we constructed a portable compact-sized CDPR with the same configuration as that of a larger fully constrained slave CDPR. The haptic device is controlled by an admittance control for stiffness adjustment and implemented in an embedded microprocessor-based controller for easy installation on an operator's desk. To validate the performance of the device, we constructed an experimental teleoperation setup by using the prototyped portable CDPR as a master and larger-size CDPR as a slave robot. Experimental results showed that a human operator can successfully control the master device from a remote site and synchronized motion between the master and slave device was performed. Moreover, the user-friendly teleoperation could intuitively address situations at a remote site and provide an operator with realistic force during the motion of the slave CDPR.
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