{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/92678"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/92678","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Multi-link robotic endoscope with haptic feedback","abstract":"This thesis outlines the design of a multi-link continuum robotic endoscope and the design of a single-axis haptic controller for navigation. The multi-link design presented in this thesis is modular such that the length of the endoscope can be easily modified for different applications. The final prototype contains 7 endoscope units, has a mass of 157 g, is 0.91 m long and 15 mm in diameter. Each endoscope unit contributes 2 degrees of freedom to the robot; altogether, the current design has 14 degrees of freedom and is capable of navigating through convoluted paths while minimizing physical contact with the surrounding walls. The single-axis haptic controller designed to drive the robot consists of a user input interface and a motor feedback system. The haptic controller has good command following ability and it is able to provide force feedback of up to 4.6 N with a 5 V input to the user during operation.","abstract_html":"This thesis outlines the design of a multi-link continuum robotic endoscope and the design of a single-axis haptic controller for navigation. The multi-link design presented in this thesis is modular such that the length of the endoscope can be easily modified for different applications. The final prototype contains 7 endoscope units, has a mass of 157 g, is 0.91 m long and 15 mm in diameter. Each endoscope unit contributes 2 degrees of freedom to the robot; altogether, the current design has 14 degrees of freedom and is capable of navigating through convoluted paths while minimizing physical contact with the surrounding walls. The single-axis haptic controller designed to drive the robot consists of a user input interface and a motor feedback system. The haptic controller has good command following ability and it is able to provide force feedback of up to 4.6 N with a 5 V input to the user during operation.","abstract_has_math":false,"creators":["Liang, Jiahui, S.B. Massachusetts Institute of Technology"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. Department of Mechanical Engineering.","school":null,"contributors":[],"advisors":["Ian W. Hunter."],"committee_chairs":[],"committee_members":[],"year":2014,"date_issued":"2014","date_published":"2014","updated_at":"2026-07-22T22:22:14Z","subjects":["Mechanical Engineering."],"languages":["eng"],"rights":["M.I.T. theses are protected by copyright. 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