Backlash compensation by smooth backlash inverse for haptic master device using cable-conduit

The robotic surgery, which is the one of the major robotic technology, has some problems that a surgeon checks vision and sound information thought the surgical process. In order to solve this limited information, the haptic function is necessary. But it requires much more information through various sensors to haptic realization. However, because of the special environment inside human body, it is not easy to apply sensors such as a force sensor. The master device for laparoscope operation with cable-conduit was developed to give haptic function as a previous research. This suggested a possibility of developing a master device by using the cable-conduit. There is possibility that master device using cable-conduit occur a backlash. Thus, this paper addresses backlash compensation by smooth backlash inverse.