Experimental Verification of Force Interactions for Robinhand Prototype Motion Controller

In article, the design stages, principle of operation and static tests of the force that is exerted on the operator by the RobinHand motion controller were presented. Besides that, details of such issues as, the developed laboratory stand for testing the force interactions, all concepts and ways of implementing the transfer of tactile stimuli from real devices or virtual reality to the user/surgeon, subsequent variants of the developed devices with the short description of them, the project of the operator-surgeon stand that is based on the assumption that the method of control of this device is compatible with the natural work of the surgeon as well as the project of control console that is used to manipulate the surgical robot were presented.