Haptic control of the master hand controller for a microsurgical telerobot system

A microsurgical telerobot system has been developed based on the results of the operation task analysis. The telerobot system is composed of a 6-DOF parallel micromanipulator attached to the macro-motion industrial robot and a 6-DOF force-reflecting haptic master device. The master device uses five-bar parallel mechanisms driven by harmonic DC servomotors. The proposed 6-DOF master hand controller has nonlinear coupled dynamics and friction. Since the disturbance force due to friction, gravity and coupled inertia can distort the operator´s perception, a disturbance observer is introduced in the operational space and implemented in the microsurgery master hand controller