MODULAR TACTILE END EFFECTOR DESIGN FOR ENHANCING HAPTIC FEEDBACK IN TELEOPERATED ROBOTIC SYSTEMS
Publication Date
1-1-2023
Document Type
Conference Proceeding
Publication Title
ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume
6
DOI
10.1115/IMECE2023-113969
Abstract
This paper describes a novel end effector design that combines off-the-shelf sensors and an endoscopic camera to improve haptic perception. By providing realistic force feedback through the tactile end effector, the aim is to enhance the operator’s situational awareness and sense of touch during teleoperations on a laparascopic surgical simulator. Modular tactile end effectors include a load cell, a force resistive sensor (FSR), a linear actuator, an endoscope, a surgical forcep, and custom fixers. The modular base allows users to switch easily between different tools. Through experiments on a teleoperated robotic system, the feasibility of using the modular tactile end effector to differentiate the stiffness of materials when grasping objects was demonstrated. The results highlight the potential of the designed end effector to improve teleoperation and robot control in various applications.
Keywords
End Effector Design, Robot teleoperation, Tactile Sensing
Department
Industrial and Systems Engineering
Recommended Citation
Jenny Huynh, Han Xuyen Duong, Gaojian Huang, Egbe Etu Etu, David Quintero, and Lin Jiang. "MODULAR TACTILE END EFFECTOR DESIGN FOR ENHANCING HAPTIC FEEDBACK IN TELEOPERATED ROBOTIC SYSTEMS" ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE) (2023). https://doi.org/10.1115/IMECE2023-113969
