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Related Experiment Video

Updated: Dec 20, 2025

Tactile Vibrating Toolkit and Driving Simulation Platform for Driving-Related Research

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Published on: December 18, 2020

[Development of real-world haptic technology].

Kouhei Ohnishi¹, Tomoyuki Shimono, Kenji Natori

¹Dept. of System Design Engineering, Keio University, Japan.

Gan to Kagaku Ryoho. Cancer & Chemotherapy

|July 14, 2012

Summary

This study presents a novel haptic technology for surgery, eliminating force sensors. The acceleration-based bilateral control (ABC method) enhances stability and performance in robotic surgery applications.

Area of Science:

Robotics
Haptics
Surgical Technology

Context:

Existing haptic systems for surgery rely on force sensors, creating a trade-off between stability and performance.
Developing advanced haptic feedback without compromising system stability has been a long-standing challenge in surgical robotics.

Purpose:

To introduce a novel force-sensorless haptic technology for high-grade surgical applications.
To address the limitations of current force-sensor dependent haptic systems.

Summary:

The paper details a new technology utilizing modal decomposition and acceleration-based bilateral control (ABC method) for real-world haptic feedback.
This innovative approach has been implemented in three degrees-of-freedom (dof) robotic forceps.
Experimental results demonstrate the effectiveness of these haptic forceps mounted on a 6 dof industrial robot.

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Impact:

This force-sensorless haptic technology offers a potential breakthrough for enhanced stability and performance in robotic surgery.
The developed system could lead to safer and more precise surgical interventions.
Enables advanced haptic feedback in areas requiring high-grade precision and safety.