Teleoperated robotic surgery and surgical simulation provide surgeons with tools that can improve the health outcomes of their patients. The limiting factor in many of these systems, however, is the lack of a haptic system that can render high impedance without compromising transparency or stability. To address this issue, we constructed a 3-Degree-of-Freedom haptic device using brakes as actuators. A novel controller is also proposed to increase the range of forces the device can generate and eliminate stiction. The device uses a modified Delta kinematic structure making it light and rigid. Since brakes are intrinsically stable, the device safely generates a wide range of impedance making it well suited for many surgical applications. The novel controller attempts to minimize the sum of forces acting perpendicular to the virtual surface eliminating un-smooth force output and stiction characteristic to passive devices, while increasing the range of displayable forces. The controller was validated using six testing scenarios where it rendered contact with frictionless surfaces. When using the controller, the device rendered the desired surface without stiction. Since the controller successfully rendered complex geometry, it can also work in other applications, such as robotic surgery and surgical simulation.

中文翻译：

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一种3自由度并联无源触觉设备的设计与控制

遥控机器人手术和手术模拟为外科医生提供了可以改善患者健康结果的工具。然而，这些系统中的许多系统的限制因素是缺乏可以在不影响透明度或稳定性的情况下呈现高阻抗的触觉系统。为了解决这个问题，我们构建了一个使用制动器作为执行器的 3 自由度触觉设备。还提出了一种新颖的控制器来增加设备可以产生的力的范围并消除静摩擦力。该设备采用改良的 Delta 运动学结构，使其既轻便又坚固。由于制动器本质上是稳定的，该设备可以安全地产生广泛的阻抗，使其非常适合许多外科手术应用。新颖的控制器试图最小化垂直作用于虚拟表面的力的总和，消除不平滑的力输出和无源设备的静摩擦特性，同时增加可显示力的范围。控制器使用六个测试场景进行了验证，在这些场景中它可以与无摩擦表面接触。使用控制器时，设备可以在没有静摩擦的情况下渲染所需的表面。由于控制器成功渲染了复杂的几何图形，因此它还可以用于其他应用，例如机器人手术和手术模拟。该设备可以在没有静摩擦的情况下呈现所需的表面。由于控制器成功渲染了复杂的几何图形，因此它还可以用于其他应用，例如机器人手术和手术模拟。该设备可以在没有静摩擦的情况下呈现所需的表面。由于控制器成功渲染了复杂的几何图形，因此它还可以用于其他应用，例如机器人手术和手术模拟。