# Advances in Master Haptic Device Design for Teleoperation: A 15-Year Exploration of Parallel and Hybrid Robotic Architectures

Abdelbadiâ Chaker, Terence Essomba, Med Amine Laribi

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Abdelbadiâ Chaker, Terence Essomba, Med Amine Laribi. Advances in Master Haptic Device Design for Teleoperation: A 15-Year Exploration of Parallel and Hybrid Robotic Architectures. Giuseppe Carbone; Giuseppe Quaglia. Proceedings of I4SDG Workshop 2025 - IFTOMM for Sustainable Development Goals. Volume 1, 179, Springer Nature Switzerland, pp.49-57, 2025, Mechanisms and Machine Science, 978-3-031-91150-7. 10.1007/978-3-031-91151-4_6. hal-05483842

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# Advances in Master Haptic Device Design for Teleoperation: A 15-Year Exploration of Parallel and Hybrid Robotic Architectures

Abdelbadiâ Chaker<fnref n="1" />, Terence Essomba<fnref n="2" />, and Med Amine Laribi<fnref n="1" />(✉)

**Abstract.** This paper presents advances in master haptic devices development over the past 15 years as key component of teleoperation system, serving as leverage to both health and well-being and industries and innovation SDGs. The use of parallel architectures has predominantly guided this line of development, specifically for use in teleoperation systems and haptic applications. The target applications for these developments are mainly in the medical field, ranging from ultrasound imaging to various minimally invasive surgical procedures. The primary characteristics include a fixed center of rotation (CoR) and degrees of freedom (DoF) ranging from 3 to 6. Various architectures have been explored, examining the advantages of features such as assembly constraints, active and passive joints, and redundancy. Parallel robots are known for their high accuracy and rigidity. However, they exhibit poor behaviour near singular configurations, facing both serial and parallel singularities within their workspace. Consequently, each proposed haptic device has been optimized to meet different criteria, such as dexterity, task workspace, and singularity-free motion. This process led to numerous improvements across versions, including the addition of sensors or actuators and partial architectural changes to address these challenges. More recently, a new architecture has been introduced, based on a hybrid combination of serial and parallel robots, taking advantage of the strengths of both types.

**Keywords:** Master haptic device · parallel robot · hybrid architecture · kinematic model · singular configuration · medical application · SDG 3 · 9 · 10 · 8

## 1 Introduction

A teleoperation system consists of robots or mechanisms controlled remotely using haptic devices, allowing operators to perform precise tasks with no need of physical contact or effort on the work scene. Examples include surgical robots which enhances minimally invasive procedures (SDG 3: Good Health and Well-being), remote robotic operation in industries that improves work efficiency and safety, supporting decent work and economic growth (SDG 8: Decent Work and Economic Growth) and industrial telerobotics

<footnote n="1">¹ Department of GMSC, Pprime Institute University of Poitiers, CNRS, ISAE-ENSMA, UPR 3346, Poitiers, France
med.amine.laribi@univ-poitiers.fr</footnote>

<footnote n="2">² National Central University, Taoyuan City 32001, Taiwan</footnote>
used in hazardous environments, promoting innovation and resilient infrastructure (SDG 9: Industry, Innovation, and Infrastructure). Additionally, assistive telemanipulation for people with disabilities, such as robotic arms controlled via haptic interfaces, fosters accessibility and inclusivity (SDG 10: Reduced Inequalities). These haptic devices represent then a key element of teleoperation system delivering force feedback of the remote system.

Parallel structure, used as base for haptic devices, offer significant advantages, including high accuracy, stiffness, and low inertia. Their compact design and symmetrical structure enable improved stability, faster response times, and better control, making them adequate for haptics and teleoperation uses. Tobergte et al. [1] proposed a haptic delta parallel structure called sigma.7 to control the DLR lightweight robot MIRO [2]. Ma et al. [3] have experiment a 4-DOF haptic device in a virtual environment. Among parallel mechanisms, the spherical parallel manipulator (SPM) stands out for a fixed CoR, making it well-suited for various medical applications such as surgery and ultrasound imaging. Gosselin et al. demonstrated its potential through an initial application in controlling a camera [4].

Parallel robots often face challenges related to singularities within their workspace, leading to excessive actuator torques and a significant loss of stiffness. Most studies in literature aimed to eliminate these singularities through optimization processes [5, 6]. However, while such optimization enhances kinematic behaviour, they often increase the robot's size, generating interference issues [4].

This paper explores several architectures used as haptic interfaces for the teleoperation of surgical robots, primarily developed by the CoBRA team at the PPRIME Institute. The study spans parallel and hybrid robotic architectures, highlighting different strategies that can be employed to overcome challenges affecting performance or complicating the use of spherical and hybrid parallel structures as haptic interfaces.

The paper is organized as follows: Sect. 2 provides a comprehensive overview of the developed teleoperation systems for medical applications. Section 3 presents detailed description and classification of the proposed architectures. Finally, Sect. 4 outlines the improvement strategies implemented and their applications.

## 2 Tele-Operation System

In medical field, tele-operation systems are designed to enhance expert's capabilities, improving both safety and precision during medical procedure. The proposed teleoperation system is tailored for applications involving a remote center of motion (RCM) such as minimally invasive surgery, sonography exam, or entry drilling point for cervical surgery, see Fig. 1. In these medical interventions, the motions of the medical tools (such as instruments or probes) are constrained to three rotations around the RCM point and one translation along the tool axis.

Integrating robotic devices into medical procedures enhances precision in tasks like suturing, sonography, and cervical spine drilling. A major benefit of teleoperation platforms is that they allow experts to maintain a comfortable posture, reducing fatigue and improving endurance during long procedures. This preservation of energy ensures consistent precision throughout the operation, making a haptic interface tailored to the expert's gestures essential for effective remote control of the robotic platform (Fig. 2).
<figure><img src="image_2.png" /><figcaption>Fig. 1. Medical applications: (a) minimally invasive surgery, (b) sonography, (c) cervical surgery</figcaption></figure>

<figure><img src="image_3.png" /><figcaption>Fig. 2. Overview of tele-operation system.</figcaption></figure>

## 3 Master Haptic Device Architecture

The master haptic device architecture can be classified into three distinct types based on their rigid-link kinematic chain:

* Serial Architecture: Feature an open kinematic chain with joints linked in series, exemplified by the VIRTUOSE 6D by HAPTION (e.g., Fig. 3a).

* Parallel Architecture: Involves one or more closed kinematic chains, with the end effector connected to the base via at least two branches (e.g., Fig. 3b and c).

* Hybrid Architecture: Combines both serial and parallel mechanisms, as demonstrated in the Hybrid haptic device developed by Meskini et al. and Koszulinkski et al. (e.g., Fig. 3d and e).

<figure><img src="image_4.png" /><figcaption>Fig. 3. (a) Virtuose 6D serial interface by Haption, (b) and (c) SPM parallel interfaces and qSPM developed by Saffi et al. [7], (d) Hybrid interface developed by Meskini et al. [8] and (e) Hybrid haptic interface developed by Koszulinkski et al. [9]</figcaption></figure>
Each of the aforementioned type of interfaces offers distinct advantages and disadvantages, making them particularly suitable for specific applications based on factors such as accuracy, compactness, or the extent of their workspace coverage. The key characteristics of each type of architecture are summarized in the Table 1 below:

<table><caption>**Table 1.** Main advantages and disadvantages of the rigid-link interface families.</caption><thead><tr><th>Class</th><th>Advantages</th><th>Disadvantages</th></tr></thead><tbody><tr><td>Serial</td><td><ul><li>High workspace/robot size ratio</li><li>Relatively simple dynamics and modelling</li></ul></td><td><ul><li>Requires more powerful actuators</li><li>Low stiffness</li><li>Low accuracy</li><li>High inertia</li></ul></td></tr><tr><td>Parallel</td><td><ul><li>Increased accuracy and stiffness</li><li>High payload/weight ratio</li><li>Force distributed across the actuators</li></ul></td><td><ul><li>Limited workspace</li><li>High friction</li><li>Large structure (Low compactness)</li><li>Complex design</li></ul></td></tr><tr><td>Hybrid</td><td><ul><li>Combines the advantage of serial and parallel families</li></ul></td><td><ul><li>Large structure (Low compactness)</li><li>Friction</li></ul></td></tr></tbody></table>

Researchers have focused extensively on the kinematics of parallel manipulators, particularly forward kinematics (FKM), which involves determining the positions of the mobile platform based on the locations of the actuated joints.

and solving the FKM is challenging due to its inherent complexity [10] and closely tied to workspace optimization [11], yet they are rarely addressed together. Parallel manipulators face singularities in their workspace, leading to loss of stiffness [12]. These singularities occur at specific configurations where multiple kinematic solutions converge, with serial singularities at the workspace edges and parallel singularities occurring within the workspace.

The kinematic model of the parallel robot is analysed through the behaviour of the Jacobian matrix, which connects the instantaneous twist motion of the moving platform $\omega$ to the corresponding required speeds of the active joints $\dot{\theta}$. The equation for instantaneous kinematics can be expressed as follows:

$$A \cdot \omega = B \cdot \dot{\theta} \qquad (1)$$

For a fully-parallel manipulator, the matrix $B$ is a diagonal matrix and it is easy to invert it. Therefore, one proposes to use the definition of the inverse Jacobian matrix in the input/output velocity relation defined by Eqs. (2) and (3).

$$\dot{\theta} = J^{-1} \cdot \omega \qquad (2)$$

$$J^{-1} = B^{-1}A \qquad (3)$$
This definition assures that the Jacobian matrix of a fully-parallel manipulator exists for all configurations. The matrices, **A** and **B**, are called the instantaneous direct kinematics matrix and the instantaneous inverse kinematics matrix, respectively. These matrices are used for determining the singularity conditions.

To assess the kinematic performance of robots, researchers have proposed various criteria. One such criterion is dexterity, which indicates the amplification of error resulting from the kinematic transformations between the joints and Cartesian space. Additionally, it can gauge how close the end effector is to a singularity. The most common representation is calculated using the condition number $κ(\mathbf{J})$ of the Jacobian matrix **J**. For specific design parameters of the parallel robot, the condition number is defined as follows:

$$κ(\mathbf{J}) = ||\mathbf{J}|| \cdot ||\mathbf{J}^{-1}|| = \sigma_{max}(\mathbf{J})/\sigma_{min}(\mathbf{J}) \quad (4)$$

where, $σ_{max}$ and $σ_{min}$ are the largest and smallest eigenvalue of **J**, respectively. One denotes by $η(\mathbf{J}) = \frac{1}{κ(\mathbf{J})}$ the inverse condition number of the Jacobian matrix **J**.

# 4 Kinematic Enhancement Strategies

Parallel singularity causes increased errors during the kinematic conversion from joint space to Cartesian space (FKM), as well as compromising the system performance due to joints torques intensification.

The enhancement strategies for the proposed parallel haptic devices with a CoR are designed to tackle challenges associated with the singularities within the workspace, improve dexterity and precision, and simplify the resolution of the kinematic models required for teleoperation context.

## 4.1 Extra Sensor

The resolution of the FKM for parallel architectures presents multiple solutions due to the multiplicity of kinematic chains and the presence of several uncontrolled passive joints leading to various assembly modes that complicate the model for continuous motion. Additionally, ensuring smooth motion, while avoiding proximity to singular positions increases complexity.

In [13], we suggested the integration of an additional rotation sensor to provide additional position input from a passive joint on one kinematic chain of the mechanism. This will help identify the assembly mode and significantly reducing the number of solutions in the model. This approach will enhance the resolution and accuracy of the FKM even near the singular region, while simplify the model to accelerate the convergence and enable real-time operation.
## 4.2 Extra Actuation

Parallel singularities can cause joint torques to exceed their limits. To address this challenge, we proposed the use of a redundant actuator combined with a specific control strategy in [14]. While most studies add an extra leg to the parallel mechanisms, and the redundant actuator is positioned at the base [15], we opted, in [14], to replace a passive joint with an active one, requiring only a slight design change. The redundant actuator is engaged only in singular configurations, replacing the actuator in the same leg. Although this control approach effectively addresses the singularity challenge, it introduces torques discontinuities in actuated joints.

## 4.3 Kinematic Change

Modifying the kinematics of one leg of a parallel robot can address singularity issues. Birglen et al. [17] modified the kinematics of a leg in a spherical parallel manipulator known as SHADE to resolve an interference issue (Figs. 4, 5 and 6).

<figure><img src="image_5.png" /><figcaption>**Fig. 4.** Spherical parallel robot with the use of an extra sensor</figcaption></figure>

<figure><img src="image_6.png" /><figcaption>**Fig. 5.** Spherical parallel robot with the use of an extra actuator.</figcaption></figure>

<figure><img src="image_7.png" /><figcaption>**Fig. 6.** Quasi-spherical parallel robot with a minimal kinematic change</figcaption></figure>

Saafi et al. [18] proposed a similar solution on the SPM design that introduced a master device free from singularities, while making minimal changes to the mechanical structure and maintaining the same mobility as the original master device.

## 4.4 Kinematic Augmentation

Augmenting the kinematics of a mechanism can take several forms. Some mechanisms are augmented in terms of the number of DoF. Typically, parallel mechanisms have as many DoF as they have legs but augmentation can increase that number without adding more legs. For instance, the Tripteron was enhanced from a 3-DoF purely translational mechanism to a 6-DoF mechanism with only three legs [19] and similar improvement was made to the Orthoglide [20]. The R-CUBE was also augmented with the option to choose between three different architectures [21]. Another strategy is to include one or several degrees of reconfigurability to improve the behavior of mechanism. A 3-RRR SPM were augmented with a reconfigurable base increasing its kinematic performance of more than 18% on some trajectories [23]. Without any architectural modification a
classical 3-DoF SPM was used for a 2-DoF application and one of the DoF was used as a reconfiguration to reduce the required motor torque of 74% [24]. Reconfiguration can be also used to allow an RCM mechanism to displace its CoR. The spherical links of a classical 5-bar spherical linkage has been replaced by modular reconfigurable linkage to allow the control of its CoR, adding 2 linear DoF [25].

<figure><img src="image_8.png" /><figcaption>Fig. 7. Duplication based kinematic augmentation</figcaption></figure>

Kinematic redundancy is also a strategy for augmentation, where adding extra legs or duplicating mechanisms in a parallel structure can lead to improved performance, particularly in terms of singularity avoidance and control precision. In [9], the authors duplicated and adapted the 4-DoF architecture of the hybrid haptic device developed in [8], resulting in a 6-DoF haptic interface designed for cervical surgery applications depicted in the Fig. 7.

**5 Conclusion**

This paper has reviewed 15 years of advancements in haptic devices and explored various strategies to enhance parallel and hybrid structures with a CoR for teleoperation in medical applications in concordance with multiple SDGs (3,8,9 and10). To address challenges such as workspace singularities, kinematic complexity, and precision requirements, the integration of additional sensors and actuators was identified as a key solution. These enhancements improve the accuracy of the FKM and torque control capabilities, even in singular regions, while enabling real-time operation by simplifying kinematic resolution.

Augmentation strategies, including increasing the number DoF and incorporating kinematic redundancy, were highlighted as effective methods to enhance system performance. Kinematic redundancy, achieved through the duplication of mechanisms, demonstrated significant structural improvements, as exemplified by the 6-DoF hybrid haptic device developed for cervical surgery.

These advancements underscore the importance of combining reconfigurable architectures, sensor integration, and redundancy to overcome the inherent limitations of parallel systems. The resulting haptic interfaces offer enhanced dexterity, precision, and adaptability, contributing to safer and more effective robotic-assisted medical procedures.
**Acknowledgments.** This work was supported by the University of Poitiers and by the CNRS through the International Research Project RACeS.

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