抽象的な

DEVELOPING A ONE DEGREE OF FREEDOM DUAL CLUTCH HAPTIC ACTUATOR

Satwinder Singh Judge, Sikander Singh

Haptics is the science of using the sense of feel to aid control and calibration of robotic control and feedback. One of the main applications of Haptics is in simulation and training of complex procedures. The present thesis is the description of the construction of a module capable of providing haptic feedback for the use in surgery simulation. The present device helps in solving the problems associated with high force DC motor coupling and cogging effects etc. to provide very fine motion simulation. The device developed is a part of a whole system being developed to integrate different aspects of the simulation mechanism including surgical setup, control software, visual simulation software etc. The present device uses a unique dual electromagnetic clutch decoupling mechanism to offset the problems associated with normal systems. The system that has been developed can act as a linear actuator or as rotary actuator. The device is capable of being attached to similar units in a modular fashion to actuate in multiple degrees of freedom. The design needs more optimisation so that it can be used in different procedures.