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Robotics and Automation Lab Haptic needle insertion

Haptic needle insertion


We developed a haptic needle insertion device with hybrid actuator. The actuation is done by combining a DC servomotor and a particle brake through a control scheme. In virtual reality simulations of insertion of a virtual needle into a multilayered tissue, the device was able to render abrupt changes and large forces as the needle passed through the layers of the tissue.





Virtual multi-layered tissue with needle being inserted. The device can also create a realistic and highly rigid collision effect when the tip of the needle touches the bone (white layer at the bottom).





  • “Blending algorithm for position control with a hybrid actuator made of DC Servomotor and brake,” Industrial Robot, vol. 38, issue 5, 2011.
  • “Force control with hybrid actuator for virtual needle insertion,” Proceedings of 2011 IEEE WorldHaptics Conference, Istanbul, Turkey, June 2011.