ROBOTIC SYSTEM WITH HAPTIC CUTTING TOOL

摘要

Robotic system includes a control system and a slave device which is controlled by the control system. The slave device has a robotic grasping device formed of a rigid base and at least one finger which is movable to facilitate grasping of objects. At least one sensor is provided which senses a force applied to the finger. A cutting tool having a cutting jaw is also attached to the base. The cutting jaw is arranged to pivot on a pivot axis responsive to a pivot motion of the finger. The forces exerted on the cutting jaw are sensed with the sensor during a first predetermined range of finger motion associated with a cutting mode of operation.

主权项

1. A robotic system, comprising:
a control system including a user interface device ; a slave device which is controlled by the control system, the slave device including a robotic grasping device formed of a base and at least one finger which is movable to facilitate grasping of objects, the finger pivotally mounted to the base at a proximal end and having an elongated length which extends away from the rigid base to a distal end; at least one sensor which senses a force applied to the finger; a cutting tool including a cutting jaw attached to the base, the cutting jaw arranged to pivot on a pivot axis responsive to a pivot motion of the finger; wherein the forces exerted on the cutting jaw are sensed with the sensor during a first predetermined range of finger motion associated with a cutting mode.