Abstract
Recently, the study for master-slave surgical robots, which has bilateral force feedback control, is attracting a lot of attention. At the same moment, you need haptic interfaces which are effective for controlling these surgical robots safely and precisely. In our laboratory, we have developed some admittance-based haptic interfaces because these interfaces have some characteristics which are effective for robotic surgery. However, when those devices move, they generate a little vibration because those devices are designed with unduration wave gearing systems. This vibration makes ill effect for controlling surgical robots precisely. In this research, we design a new admittance-based haptic interface and taking away such vibrations.
