Haptic and Tactile Sensing Methods for Master-Slave System in Medical Robotics

Abstract

Sensors for robots have been a widely discussed and researched topic. Various industry-accepted sensors based upon diverse principles include optical sensors, acoustic sensors, inductive sensors, capacitive sensors, resistive sensors, piezoelectric sensors, magnetic sensors, thermal sensors, etc.  All these are used to perform different types of sensing functions in the robot, like force sensing, position sensing, shape sensing, collision prevention, and smart-sensing. In this paper, we have discussed the various tactile, vibrotactile and haptics based sensing methods. The sensors, associated components, software and hardware issues, constraints, requirements, development, and research issues have been discussed, in particular related to Master-slave system in medical robotics. An experimental implementation in the context has also been briefed in the paper.