Design of a 6-DOF haptic interface for robotic teleoperation / by Saleh Ahmad Ali.
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"Teleoperation has become increasingly important in medical applications, handling hazardous materials, as well as in other robotics applications. Force feedback in such systems is essential; therefore a haptic device is needed in order to allow the user to feel the reactive forces between the slave manipulator and the environment. Our main research focus is the design of a six degrees of freedom parallel robot to be used as a master haptic interface in internet-based teleoperation. This parallel robot is based on two five-bar linkage mechanisms leading to a low weight, compact, and efficient haptic device with a promising successful implementation for telerobotic applications such as endoscopic surgery.