We introduce a novel input device for the teleoperation of extensible continuum robots. As opposed to previous works limited by kinematically dissimilar master devices or restricted Degrees-of-Freedom (DoF), a kinematically similar input device capable of nine degrees-of-freedom is designed and used. The device is capable of achieving configurations identical to a three-section continuum robot and simplifies the control of such manipulators. In this paper, we outline the design of the input device and its construction. Implementation of the new master device and its effectiveness in regulating a physical system is also discussed.
Volume Subject Area:
41st Mechanisms and Robotics Conference
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