Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Book Part Citation - Scopus: 2Improved Usability of a Low-Cost 5-Dof Haptic Device for Robotic Teleoperation(Springer, 2019) Ateş, Gizem; Brunetti, Luca; Bonfè, MarcelloThe paper describes the design and application of a low-cost haptic device with five degrees of freedom (5-DOF), all of which are fully actuated for force/torque haptic display. The device is realized using two Novint Falcons, commercially available haptic devices with only translational DOF. The paper focus on the practical issues related to the use of such a haptic device as a robotic teleoperation master and provides solutions to improve its usability during an application inspired by surgical robotics, namely the teleoperated insertion of a needle into a soft tissue. Experiments demonstrate the usefulness of force feedback and virtual fixtures on both translation and orientation degrees of freedom. © 2019, CISM International Centre for Mechanical Sciences.Conference Object Citation - WoS: 3Citation - Scopus: 5Image Processing Based Stiffness Mapping of a Haptic Device(Springer, 2017) Taner, Barış; Dede, Mehmet İsmet CanThe widely accepted performance criteria of haptic devices, which are transparency and z-width, are affected by the stiffness characteristics of the haptic device’s mechanism. In addition indirect measurement of the handle pose of a haptic device is also affected by the stiffness characteristic. In this study, image processing techniques are used in the experimental setup to develop a stiffness map of a haptic device. The experimentally developed stiffness map is presented and the results are discussed by addressing future works.