A Low-Cost 6-DoF Master Device for Robotic Teleoperation

Juan Sébastian Sandoval Arevalo (1) , Med Amine Laribi (1) , Said Zeghloul (1)

1 RoBioSS - Robotique, Biomécanique, Sport, Santé [Institut Pprime]

This paper deals with the design and application of a low-cost master device with six degrees of freedom (6-DoF), with haptic feedback along the three translational axes. The proposed device has been developed using the association of a Novint Falcon, a commercial 3-DoF translational haptic interface, and of a spherical wrist integrating an inertial measurement unit to fully control the orientation. The main focus of this paper is the practical issues related to the use of such a master device for robotic teleoperation and its capabilities to be used in medical applications, namely for robot-assisted Doppler sonography. Experimentations in a tele-operation platform using a slave collaborative robot demonstrate the usefulness of the proposed 6-DoF device.

Mots clés: 6-DoF master device; Doppler sonography; Teleoperation; Haptic feedback

Domaines: Mécanique des fluides [physics.class-ph]; Matériaux et structures en mécanique [physics.class-ph]; Acoustique [physics.class-ph]; Automatique / Robotique; Electromagnétisme; Milieux fluides et réactifs; Energie électrique; Thermique [physics.class-ph]; Vibrations [physics.class-ph]; Physique mathématique [math-ph]; Physique Quantique [quant-ph]; Acoustique [physics.class-ph]; Biomécanique [physics.med-ph]; Matériaux; Polymères

Juan Sébastian Sandoval Arevalo, Med Amine Laribi, Said Zeghloul. A Low-Cost 6-DoF Master Device for Robotic Teleoperation. Robotics and Mechatronics, pp.473-480, 2020, 978-3-030-30035-7. ⟨10.1007/978-3-030-30036-4_43⟩. ⟨hal-02321686⟩