Robotic haptics : retrofitting a pick and place manipulation arm to haptic input device : a thesis presented in partial fulfilment of the requirements for a degree of Master of Engineering, Mechatronics at Massey University, Albany, New Zealand
Robotic haptics has been and continues to be an area of intense research, primarily in medical
and exploration industries. This is due to an ability to provide high data throughput between
human and machine. In medical applications, it is possible to detect and compensate errors
such as a hand tremor in a surgeon. It is possible to apply scaling factors to assist in
microsurgery situations, and can allow leading experts to perform procedures from anywhere
on the globe.
As part of a collaboration to develop a robotic method of femur fracture realignment between
Auckland University, Auckland District Health Board, and Massey University, the project seeks
to provide a haptic driven HMI for the realignment system.
To reduce construction required, an existing manipulation arm (Mitsubishi RV-M1) is used as
the hardware interface device. A new motor controller is designed to provide additional
functionality as the standard controller provides no force control or real-time feedback of
A software interface is developed (using version 3 of the C# programming language, developed
by Microsoft, and version 3.5 of the Microsoft .NET Framework) with the ultimate specification
of becoming being the primary interface platform for the realignment system. The interface has
been implemented to the point of providing a simulated environment for the haptic device.
It was found that the configuration of the RV-M1 provides a tight area of high dexterity as a
haptic device, and as such, similar kinematic configurations are poor candidates for practical
implementation. The implication of which, is that a new manipulator should be designed which
grants a larger volume of high dexterity space.