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Updated: Jun 18, 2026
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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
Published on: November 14, 2015
Design and implementation of series elastic actuators for a haptic laparoscopic device
E Basafa1, M Sheikholeslami, A Mirbagheri
1Johns Hopkins University, Baltimore, MD 21218, USA. basafa@jhu.edu
Abstract:
The design of a laparoscopic haptic device based on a 4-DOFs mechanism and Series Elastic Actuators (SEA) is described and the results of the theoretical and experimental examinations are presented. With a sufficient bandwidth and low impedance, the system provided a stable interaction with soft tissues, e.g., human liver, in virtual environments.
