In robotic telemanipulation for minimally-invasive surgery, lack of haptic sensation and non-congruent movement of input device and manipulator are major drawbacks. Input devices based on cable-driven parallel mechanisms have the potential to be a stiff alternative to input devices based on rigid parallel or serial kinematics by offering low inertia and a scalable workspace. In this paper, the haptic user interface of a cable-driven input device and its technical specifications are presented and assessed. The haptic user interface allows to intuitively control the gripping movement of the manipulator’s end effector by providing a two-finger precision grasp. By design, the interface allows to command input angles between 0° and 45°. Furthermore, interaction forces from the manipulator’s end effector can be displayed to the user’s twofinger grasp in a range from 0 N to 6 N with a frequency bandwidth of 17 Hz.
© 2021 The Author(s), published by Walter de Gruyter GmbH, Berlin/Boston
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