抄録
In this paper, a master manipulator with a high force feedback capability and operability for surgical applications is described. The developed master manipulator is composed of a translational mechanism and a rotational mechanism. The translational mechanism has 3 DOF of translational motions, and realizes a high accuracy, a high stiffness, lightweight and wide working area by using a newly developed redundant parallel mechanism. The rotational mechanism has 3 DOF of rotational motions and 1 DOF of gripping motion. The mechanism is a newly developed spherical parallel mechanism, which its center of motions is corresponding to the operator's wrist joint.
