Bipedal humanoid robots are expected to play a major role in the future. Performing bipedal locomotion requires high energy due to the high torque that needs to be provided by its legs’ joints. Taking the WABIAN-2R as an example, it uses harmonic gears in its joint to increase the torque. However, using such a mechanism increases the weight of the legs and therefore increases energy consumption. Therefore, the idea of developing a mechanism with adjustable stiffness to be connected to the leg joint is introduced here. The proposed mechanism would have the ability to provide passive and active motion. The mechanism would be attached to the ankle pitch joint as an artificial tendon. Using computer simulations, the dynamical performance of the mechanism is analytically evaluated.

Robotic surgery started nearly 30 years ago. It has achieved telepresence and the performance of repetitive, precise, and accurate tasks. The “master–slave” robotic system allows control of manipulators by surgeon at distant site. Robotic surgical fingers were developed to allow surgeons to move them with accuracy through sensors fixed on surgeon’s hand. Also, haptic sensors were developed to allow transmission of sensation from robotic finger to surgeon’s finger. A complete system of a, 3D printed by a stereolithography (SLA) 3D printer, robotic surgical finger with haptic feedback system is proposed. The developed system includes a master glove that controls the motion of a 3DOF robotic slave finger while getting haptic feedback of force/pressure exerted on it. The precise control of the slave robotic finger was achieved by applying a Proportional Integral and Derivative (PID), fast and robust, control algorithm using an Arduino based hardware and software module. The individual joint angles, metacarpophalangeal joint (MCP) and proximal interphalangeal joint (PIP), and wrist were measured using rotatory and inertial sensors respectively. The degree of movement for MCP, PIP, and Wrist joints were measured to be 0–86°, 0–71°, and 0–89° respectively. Motion to the robotic finger is mimicked by a glove motion requiring minimal learning curve for the device. The collected data for the slave motion is in good agreement with the master-glove motion data. The vibro-tactile haptic feedback system was developed to distinguish between three different materials to mimic human flesh, tumor, and bone. The master–slave system using robotic surgical finger with good simultaneous movement to surgeon’s finger and good haptic sensation will provide the surgeon with the opportunity to perform finger dissection in laparoscopic and robotic surgery, as it used to be in open surgery. 3D bio printing will make this process even cheaper with the added advantage of making surgical tools locally according to the need of the surgery. An ongoing work is to develop silicone based 8 mm robotic surgical finger with multiple type haptic feedback.