Haptic Feedback systems are used to sense the vibrations, touch and force in many real world problems for example gaming, virtual reality, mobiles, automotive industry and robotic surgery. Our work involves the design and development of a robotic arm at slave end which includes force and current sensors that allows the operator to get force feedback at the master end. Three methods of feedback are generally used i.e. Force Sensitive Resistors for object detection, Current Sensing for force feedback and Position estimation to replicate motion. The three mentioned methods are analyzed using graphs developed on the PC.
Graphs are obtained by experiments on the gripper by using different objects. Master-Slave topology is used to attain some benefits over conventional control systems in term of ergonomics, accuracy and timing etc. There is an interactive GUI at master end to show us forces, size and motions at each joint of the slave unit. Along with the interactive GUI at master side, yaw and pitch motion of slave is also replicated at master end using master controller
Contents
ABSTRACT
INTRODUCTION
LITERATURE REVIEW
2.1 TELE-ROBOTIC SURGERY
2.2 HAPTICS IN SURGICAL INSTRUMENTS
2.2.1 FORCE FEEDBACK DEVICES
2.2.2 TACTILE DEVICES
2.2.3 SOFIE (SURGICAL ROBOT)
2.3 MODULES OF SURGICAL SYSTEM
2.3.1 MASTER-SLAVE ROBOTIC SURGERY
2.3.3 MASTER UNIT
2.3.4 MECHANICAL WORK
2.3.5 ELECTRICAL WORK
FUNCTIONALITY AND DESIGN
3.1 MECHANICAL STRUCTURE & EQUATION DERIVATION
3.1.1 PRO E DESIGN
3.1.2 ROBOTIC ARM COMPONENTS DESCRIPTION
3.1.3 FORWARD AND BACKWARD MOTION (‘R’)
3.1.4 VERTICAL MOTION (Z-AXIS)
3.1.5 MOVEMENT IN XY PLANE
3.2 ELECTRICAL COMPONENTS
3.2.1 MAXON DC MOTOR WITH ENCODER & GEARBOX
3.2.2 FORCE SENSOR
3.2.3 TRANSDUCER
3.2.5 ROBOTIC ARM GRIPPER
3.2.6 H-BRIDGE DESIGN:
3.3 SOFTWARE COMPONENTS
3.3.1 PROJECT TOP MODEL PSOC CREATOR
3.3.2 MICROSOFT VISUAL C#
3.3.3 .NET FRAMEWORK PLATFORM ARCHITECTURE
3.3.4 PROJECT REQUIREMENTS FOR GUI
3.3.5 COMMUNICATION METHODOLOGY
3.3.6 COMMUNICATION PROTOCOL
3.3.7 PROJECT INTERFACE
3.3.8 VISUAL STUDIO C# CODE
3.3.9 PSOC CODE EXPLANATION
IMPLEMENTATION AND RESULT DISCUSSION
4.1 METHODS AND ALGORITHM USED FOR FEEDBACK
4.1.1 CURRENT SENSING
4.1.2 POSITION ESTIMATION (DIGITAL ENCODERS)
4.1.3 OBJECT DETECTION USING FSR AT GRIPPER
4.2 EXPERIMENT RESULTS AND THEIR ANALYSIS
4.2.1 HARD OBJECTS (ANIMAL BONE):
4.2.2 SOFT OBJECTS:
4.2.3 SEMI HARD OBJECTS (ANIMAL FLESH):
FUTURE RECOMMENDATIONS AND CONCLUSION
REFERENCES
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