%0 Conference Paper %1 10.1007/978-3-031-32322-5_8 %A Schäfer, Max B. %A Weiland, Sophie %A Worbs, Lukas %A Khaw, Ing Tien %A Pott, Peter P. %B Cable-Driven Parallel Robots %C Cham %D 2023 %E Caro, Stéphane %E Pott, Andreas %E Bruckmann, Tobias %I Springer Nature Switzerland %K cable-driven-parallel-robots cable-robot haptic-feedback haptic-input-device haptic-user-interface haptics imt institut-für-medizingerätetechnik medizingerätetechnik myown robot-assisted-surgery %P 97--108 %R https://doi.org/10.1007/978-3-031-32322-5_8 %T Model-Based Workspace Assessment of a Planar Cable-Driven Haptic Device %X In this paper the model-based assessment of the workspace of a planar Cable-Driven Haptic Device for telemanipulation in the field of Robot-Assisted Surgery is presented. The Cable-Driven Haptic Device is intended to be used for the control of a flexible robot for colonoscopy. It consists of four cables and provides, depending on the endeffector design, two or three Degrees of Freedom. Different endeffector geometries and sizes were investigated and evaluated using three quantitative assessment indices regarding the resulting workspaces. In addition, a set of external wrenches is used to examine the workspace with a haptic feedback force of 5 N which can be displayed to the user at each pose. For the intended application, a point-shaped and a line-shaped endeffector design showed to be a suitable solution based on the assessment indices. This work provides a basis for further research into telemanipulation with haptic user interfaces based on Cable-Driven Parallel Robots, enabling high fidelity haptic feedback. %@ 978-3-031-32322-5

@inproceedings{10.1007/978-3-031-32322-5_8, abstract = {In this paper the model-based assessment of the workspace of a planar Cable-Driven Haptic Device for telemanipulation in the field of Robot-Assisted Surgery is presented. The Cable-Driven Haptic Device is intended to be used for the control of a flexible robot for colonoscopy. It consists of four cables and provides, depending on the endeffector design, two or three Degrees of Freedom. Different endeffector geometries and sizes were investigated and evaluated using three quantitative assessment indices regarding the resulting workspaces. In addition, a set of external wrenches is used to examine the workspace with a haptic feedback force of 5 N which can be displayed to the user at each pose. For the intended application, a point-shaped and a line-shaped endeffector design showed to be a suitable solution based on the assessment indices. This work provides a basis for further research into telemanipulation with haptic user interfaces based on Cable-Driven Parallel Robots, enabling high fidelity haptic feedback.}, added-at = {2023-07-14T15:00:49.000+0200}, address = {Cham}, author = {Sch{\"a}fer, Max B. and Weiland, Sophie and Worbs, Lukas and Khaw, Ing Tien and Pott, Peter P.}, biburl = {https://puma.ub.uni-stuttgart.de/bibtex/2e4d3069082d5f50e5d6c2c7aec423d8d/maxschaefer}, booktitle = {Cable-Driven Parallel Robots}, doi = {https://doi.org/10.1007/978-3-031-32322-5_8}, editor = {Caro, St{\'e}phane and Pott, Andreas and Bruckmann, Tobias}, interhash = {5f54203b5c41629b8a44a4c08a9118cb}, intrahash = {e4d3069082d5f50e5d6c2c7aec423d8d}, isbn = {978-3-031-32322-5}, keywords = {cable-driven-parallel-robots cable-robot haptic-feedback haptic-input-device haptic-user-interface haptics imt institut-für-medizingerätetechnik medizingerätetechnik myown robot-assisted-surgery}, pages = {97--108}, publisher = {Springer Nature Switzerland}, timestamp = {2023-07-14T15:02:09.000+0200}, title = {Model-Based Workspace Assessment of a Planar Cable-Driven Haptic Device}, year = 2023 }