Master Device for Master Slave Robot Gripping Force Sensing
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Solution Overview
Problem
Existing master slave apparatuses do not effectively sense detailed variations in gripping force when the gripped position of tweezers or a gripper is changed, as the feedback mechanism does not finely adjust the force based on the gripped position.
Innovation Solution
A master device with a hand manipulation mechanism that includes a slider and open/close manipulation portions, allowing the operator to remotely manipulate the slave mechanism to grip objects, and a master hand control device that transmits motion information to adjust the gripping force based on the position and angle of the hand manipulation portion, simulating the sensation of changing the gripped position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force sensor is provided to detect force applied to distal ends of forceps, then force feedback to surgeon is achieved, but detailed variation in gripping force cannot be sensed when gripped position is changed
Solution Approach 1:
The master hand manipulation mechanism is segmented into multiple independent components: a pair of open/close manipulation portions for controlling grip aperture, and a slider mechanism for controlling longitudinal position. This segmentation allows independent control of gripping parameters, enabling the system to sense and feedback force variations corresponding to different gripped positions on the forceps, thereby resolving the contradiction between force sensing precision and gripped position adaptability.
Solution Approach 2:
The invention changes the control parameters from simple open/close motion to combined open/close motion plus longitudinal sliding motion. The slider mechanism enables the open/close manipulation portions to move along the longitudinal axis, changing the effective gripped position parameter. This parameter change allows the force feedback to reflect detailed force variations at different positions along the forceps, achieving both precise force measurement and position adaptability.
2Ease of operation
If master mechanism provides basic open/close manipulation, then remote manipulation of slave mechanism is achieved, but fine correction of feedback force according to gripped position is not possible
Solution Approach 1:
The master hand manipulation mechanism transitions from static open/close manipulation to dynamic manipulation with two degrees of freedom: open/close motion and longitudinal sliding motion. The slider mechanism enables dynamic adjustment of the manipulation point along the longitudinal axis, allowing the operator to perform fine corrections of feedback force by changing the gripped position parameter. This dynamic capability maintains ease of operation while achieving high force feedback precision.
Solution Approach 2:
The slider acts as an intermediary mechanism between the operator's hand and the open/close manipulation portions. It mediates the transmission of manipulation forces while enabling longitudinal displacement, allowing fine correction of the feedback force signal without compromising the ease of basic remote manipulation. The slider mechanism translates small longitudinal movements into precise force feedback adjustments.
Data Source
AI summary
A master device is provided to a master slave apparatus in which a hand mechanism opens/closes to grip a target object and a slave mechanism performs a task on a target article. The master device includes a hand manipulation mechanism for manipulating the hand mechanism. A person remotely manipulates the slave mechanism by a master mechanism and the hand manipulation mechanism manipulates to cause the hand mechanism to perform the task. In the hand manipulation mechanism, a hand manipulation portion having a pair of open/close manipulation portions manipulated by the person moves forward/backward on a slider, the pair of open/close manipulation portions is opened/closed to change the angle therebetween so that the hand mechanism is opened/closed. A master hand control device transmits, to the slave mechanism, motion information used for manipulating the hand mechanism based on a position of the hand manipulation portion relative to the slider or the angle.