Toward design and integration of a novel 6-DOF haptic device

Haptic user interface is an electro-mechanical device that interfaces the user via the sense of touch to the virtual or remote tele-operation environment. This thesis is aimed to develop a haptic user interface device that is able to provide assistance in medical surgery. A novel design hybrid 6-DOF manipulator arm has been utilized for such application. We proposed mathematical models of the manipulator arm. We designed and developed electronic interface and application software for the device. We conducted experimental studies to evaluate the performance of the proposed haptic user interface. Results demonstrated the performance of the kinematic mapping of the device and compared the computed haptic force feedback with the measured force/moment data located at the stylus of the device. In addition, we implemented gravity compensation and passivity controller methods to enhance the stability of the haptic rendering. Results indicated significant improvement in stability and also suggested future development.