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Force feedback controller (haptic device) is the key part of a master-slave tele-operation system. It can transmit its position, orientation and velocity to remotely operate the controlled object; at the same time it can acquire information of force/torque from the remote object, and rebuild those to the operator by enabling a force sense telepresence. In this paper, a new type force feedback controller...
Slim and strong hyper-redundant manipulators with long reaches can perform a variety of intra-cavity tasks in confined spaces. Benefiting from a newly developed continuum mechanism and its actuation scheme, this paper proposes the design of a hyper-redundant continuum manipulator with 12 DoFs (Degrees of Freedom). With a structure synthesized in an enumerative manner, the manipulator is expected to...
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