Asymmetric Oscillatory Haptic Feedback for daVinci robot

Class project for RBE501 Robot Dynamics. We designed a novel directional haptic feedback system to augment existing haptic feedback methods for the da Vinci surgical system. The new device generates haptic feedback by commanding two linear resonant actuators to oscillate asymmetrically; therefore a planar pseudo-force vector can be resolved for haptic feedback. The hardware transduces collisions of a simulated slave manipulator with an obstacle in Rviz into asymmetric oscillations perceived by the user as a directional resistance.

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