Novel Structural Design of a Haptic Device for Medical Applications

Robotics is gradually becoming a part of our daily lives as new areas of enhancement are still possible in fine operations. These operations often require precision that may not be achieved by a human operator. Haptics is an area of robotics that adds precision to the operations that interact with the environment by exerting forces as their motion is controlled. Currently, haptic devices find use in assistive surgical robotics and most of the teleoperation systems. These devices are also extensively utilized in simulators to train medical and military personnel. The objective of this work is to design a haptic device with a new structure that has the potential to increase the precision of the operation. Therefore, previously built devices and manipulator structures are reviewed and conceptual designs are configured Ultimately, a final design is developed and simulated in virtual environment, and a prototype is constructe