A subject-specific four-degree-of-freedom foot interface to control a surgical robot

• Main Authors: Huang, Yanpei, Burdet, Etienne, Cao, Lin, Phan, Phuoc Thien, Tiong, Anthony Meng Huat, Phee, Soo Jay
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Mechanical engineering::Robots; Human-machine Interaction; Foot Interface
• Online Access: https://hdl.handle.net/10356/137939
• Institution: Nanyang Technological University

This paper introduces a passive four-degree-of-freedom foot interface to control a robotic surgical instrument. This interface is based on a parallel-serial hybrid mechanism with springs and force sensors. In contrast to existing switch-based interfaces that can command a slave robot arm at constant...