In endosurgery, tissue manipulation is performed by long graspers which have poor force-reflection property, i.e. they do not reflect the grasping force to the hand of the surgeon. In the paper, a novel design of an electromechanical system is considered which can enhance the force-reflecting capability of endosurgical graspers. The type synthesis of such a haptic interface leads to the application of a tunable spring. The design of the tunable spring is optimized based on the haptic and surgical requirements. Moreover, by using suitable control laws, it is shown that the primary requirements of the design application can be met. Simulation and experimental results are presented using a prototype model of such a haptic interface to demonstrate the practicality of such a design concept.

This paper defines a novel approach in application of part orienting on conveyer belt utilizing active fence (AF) with embedded sensory system. The application system requirements and limitation are presented and a novel stateless orienting algorithm is developed. The algorithm incorporates the part-AF frictional aspects, part motion behavior (rolling) while being pushed by AF and uncertainties in the system. The controller of AF incorporating the sensor information was developed and experimental result is given. Furthermore, an initial algorithm for orienting randomly oriented parts using an AF is proposed for orienting a simple object.

Fixtures are devices used in manufacturing to immobilize and localize a part while the processing operations are being performed. This paper explores an application of a novel fixturing tool. The fixturing tool proves to deliver a force closure independently of the clamped part configuration. Furthermore, an integrated sensory system is developed in order to determine the actual clamped part configuration, and a systematic method for determining the clamped part configuration from the acquired sensory data is investigated.

This paper presents a novel approach for orienting an object on conveyer belt utilizing an active fence (AF). The AF was implemented with low cost sensory system used for tracking the collision/contact force generated from interaction between the AF and the object. A generalized mechanical model of the collision/contact event is developed and basic relations between impact signature and object properties are established. Also is given a qualitative analysis of the object motion behavior and defined the events of interaction between the object and the AF.