{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,2]],"date-time":"2025-12-02T06:16:48Z","timestamp":1764656208923,"version":"build-2065373602"},"reference-count":28,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2023,3,29]],"date-time":"2023-03-29T00:00:00Z","timestamp":1680048000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["62003339"],"award-info":[{"award-number":["62003339"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"InnoHK program","award":["62003339"],"award-info":[{"award-number":["62003339"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Continuum robots are increasingly used in medical applications and the master\u2013slave-based architectures are still the most important mode of operation in human\u2013machine interaction. However, the existing master control devices are not fully suitable for either the mechanical mechanism or the control method. This study proposes a brand-new, four-degree-of-freedom haptic joystick whose main control stick could rotate around a fixed point. The rotational inertia is reduced by mounting all powertrain components on the base plane. Based on the design, kinematic and static models are proposed for position perception and force output analysis, while at the same time gravity compensation is also performed to calibrate the system. Using a continuum-mechanism-based trans-esophageal ultrasound robot as the test platform, a master\u2013slave teleoperation scheme with position\u2013velocity mapping and variable impedance control is proposed to integrate the speed regulation on the master side and the force perception on the slave side. The experimental results show that the main accuracy of the design is within 1.6\u00b0. The workspace of the control sticks is \u221260\u00b0 to 110\u00b0 in pitch angle, \u221240\u00b0 to 40\u00b0 in yaw angle, \u2212180\u00b0 to 180\u00b0 in roll angle, and \u221290\u00b0 to 90\u00b0 in translation angle. The standard deviation of force output is within 8% of the full range, and the mean absolute error is 1.36\u00b0\/s for speed control and 0.055 N for force feedback. Based on this evidence, it is believed that the proposed haptic joystick is a good addition to the existing work in the field with well-developed and effective features to enable the teleoperation of continuum robots for medical applications.<\/jats:p>","DOI":"10.3390\/robotics12020052","type":"journal-article","created":{"date-parts":[[2023,3,30]],"date-time":"2023-03-30T02:23:46Z","timestamp":1680143026000},"page":"52","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots"],"prefix":"10.3390","volume":"12","author":[{"given":"Yiping","family":"Xie","sequence":"first","affiliation":[{"name":"School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 101408, China"},{"name":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China"}]},{"given":"Xilong","family":"Hou","sequence":"additional","affiliation":[{"name":"Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences, Hong Kong 999077, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4316-3259","authenticated-orcid":false,"given":"Shuangyi","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Multimodal Artificial Intelligence Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China"},{"name":"Centre for Artificial Intelligence and Robotics, Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences, Hong Kong 999077, China"}]}],"member":"1968","published-online":{"date-parts":[[2023,3,29]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"847","DOI":"10.1109\/JPROC.2022.3141338","article-title":"Continuum Robots for Medical Interventions","volume":"110","author":"Dupont","year":"2022","journal-title":"Proc. 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