Function separation for 2-DOF haptic surgical forceps robots driven by multi drive linear motors

2-DOF haptic surgical multi drive robot is driven by multi drive linear motors, and does not separate hand function (manipulating mode) and arm function (grasping mode) of the human motion mechanically. Conventional method has one problem. When the operator want to grasp an object, he have to drive forceps open. This make operator difficult to use forceps finely and powerfully. A proposed method separates two function of position in control. Conventional of grasping/manipulating control uses modal transformation matrix for master or slave robots to achive bilateral control between different structural. The proposed method use modal transformation matrix both master and slave robots between same structure. Moreover, the proposed method enables us to operate like actual forceps than conventional method. The validity of the proposed method is varified by experiments.