Design of a haptic device with grasp and push–pull force feedback for a master–slave surgical robot

  • Zhenkai Hu
  • Chae-Hyun Yoon
  • Samuel Byeongjun Park
  • Yung-Ho JoEmail author
Original Article



We propose a portable haptic device providing grasp (kinesthetic) and push–pull (cutaneous) sensations for optical-motion-capture master interfaces.


Although optical-motion-capture master interfaces for surgical robot systems can overcome the stiffness, friction, and coupling problems of mechanical master interfaces, it is difficult to add haptic feedback to an optical-motion-capture master interface without constraining the free motion of the operator’s hands. Therefore, we utilized a Bowden cable-driven mechanism to provide the grasp and push–pull sensation while retaining the free hand motion of the optical-motion capture master interface. To evaluate the haptic device, we construct a 2-DOF force sensing/force feedback system. We compare the sensed force and the reproduced force of the haptic device. Finally, a needle insertion test was done to evaluate the performance of the haptic interface in the master–slave system.


The results demonstrate that both the grasp force feedback and the push–pull force feedback provided by the haptic interface closely matched with the sensed forces of the slave robot. We successfully apply our haptic interface in the optical-motion-capture master–slave system. The results of the needle insertion test showed that our haptic feedback can provide more safety than merely visual observation.


We develop a suitable haptic device to produce both kinesthetic grasp force feedback and cutaneous push–pull force feedback. Our future research will include further objective performance evaluations of the optical-motion-capture master–slave robot system with our haptic interface in surgical scenarios.


Haptic interface Kinesthetic force feedback Cutaneous force feedback Master–slave surgical robot Optical-motion-capture master 



This work was supported by the National Cancer Center Grant (NCC-1310290, NCC-1410580).

Compliance with ethical standards

Conflict of interest

Zhenkai Hu, Chae-Hyun Yoon, Samuel B. Park, and Yung-Ho Jo declare that they have no conflict of interest.

Supplementary material

Supplementary material 1 (wmv 4208 KB)

Supplementary material 2 (wmv 4380 KB)

Supplementary material 3 (wmv 12017 KB)


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Copyright information

© CARS 2015

Authors and Affiliations

  • Zhenkai Hu
    • 1
  • Chae-Hyun Yoon
    • 1
  • Samuel Byeongjun Park
    • 1
  • Yung-Ho Jo
    • 1
    Email author
  1. 1.Department of Biomedical EngineeringNational Cancer CenterGoyang-siReplublic of Korea

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