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Robotics
Volume 12
Issue 2
10.3390/robotics12020052
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Article
Peer-Review Record

Design of a Novel Haptic Joystick for the Teleoperation of Continuum-Mechanism-Based Medical Robots

Robotics 2023, 12(2), 52; https://doi.org/10.3390/robotics12020052
by Yiping Xie 1,2, Xilong Hou 3 and Shuangyi Wang 2,3,*
Reviewer 1: Anonymous
Reviewer 2: Anonymous
Robotics 2023, 12(2), 52; https://doi.org/10.3390/robotics12020052
Submission received: 10 March 2023 / Revised: 25 March 2023 / Accepted: 27 March 2023 / Published: 29 March 2023
(This article belongs to the Special Issue Immersive Teleoperation and AI)

Round 1

Reviewer 1 Report

This work presents a novel design of the proposed haptic joystick based on a novel mechanism with series of coupled gears that aims for the control of  continuum robots for medical applications. It is a progression that has connections with the authors’ previous work. The research is overall solid and interesting with proper theoretical modeling and experiment validation. In my view, it should be sufficient for acceptance in current form.

Author Response

We are very grateful to the reviewers for their review and full approval of this paper.

 

Reviewer 2 Report

The submitted manuscript proposes a new haptic joystick with four degrees of freedom for controlling continuum robots in medical applications. The joystick's design includes position perception and force output analysis, as well as gravity compensation calibration. The joystick's accuracy is within 1.6 degrees, and its force output is within 8% of the full range, making it a good addition to the existing work in the field for tele-operation of continuum robots in medical applications.

 

One potential limitation of this study is the lack of a comparison between the proposed system and other robots/tools used for that purpose. Moreover, it would be beneficial if the authors could clarify the aim of their solution and how are they planning to validate it.

 

Justify the selection of system parameters: Explain why each parameter was chosen and why it is relevant to the study. Provide a rationale for any assumptions made and include a discussion of any limitations or uncertainties associated with the parameters. Discuss the range of parameter values: Provide a discussion of the range of parameter values used in the study, including the minimum, maximum, and typical values. Discuss how the range of values was chosen and how it relates to real-world scenarios.

 

Author Response

Please check the attached response letter. 

Author Response File: Author Response.pdf

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