Background
Studies have been conducted on slave‐specific master devices with a similar kinematic structure to the slave to enhance intuitiveness. However, for the four‐degrees of freedom (DOFs) slave of a flexible endoscopic surgery robot, only four DOFs in the master device causes low ergonomic performance.
Methods
To enhance ergonomic performance, a second yaw joint was added as a redundant joint after considering the range of wrist motion and the workspace shape. Three experiments were performed to compare the intuitiveness and ergonomic performance of the proposed device with four‐DOFs slave‐specific and six‐DOFs general‐purpose master devices.
Results
Significant differences were observed in terms of intuitiveness performance between the slave‐specific and the general‐purposed master device. On the other hand, there was no significant difference in ergonomic performance between the master devices with redundant joint.
Conclusions
Compared with a general‐purpose master device, the proposed one exhibited noticeably improved intuitiveness performance and comparable ergonomic performance.