Implementation of force feedback (haptic) in master slave robotic configuration

A master-slave robotic system with haptic feedback has been proposed by the authors for proving the force feedback principle during the execution of motion transfer from master side to slave side. The focus is on designing an appropriate mechanical structure for proper implementation of the force feedback principle and takes care about the stability of the overall control system. The proposed configuration with force feedback capability uses the current sensing technique for measuring the force acting on the slave side and implements the same on the master side. The technique has a wide application, with accuracy, efficiency, safety and over all user experience that provide superior performance and reliability in master- slave robot assisted interventions.