Figure 2From: Pneumatic-type surgical robot end-effector for laparoscopic surgical-operation-by-wire Improved hands-on-throttle-and-stick (iHOTAS). (a) Conventional HOTAS controller. (b) Upper layer of the special housing. (c) Lower layer of the special housing. (d) 6-axis force/torque sensor. All the screws in the special housing assembly were tightly secured to ensure the precise measurement. The improved HOTAS (iHOTAS) controller was used to perform translational movement.Back to article page