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Using force control for fidelity in low-force medical haptic simulators

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dc.contributor.author Vlachos, K en
dc.contributor.author Papadopoulos, E en
dc.date.accessioned 2014-03-01T02:51:18Z
dc.date.available 2014-03-01T02:51:18Z
dc.date.issued 2007 en
dc.identifier.uri http://hdl.handle.net/123456789/35453
dc.subject.other Haptic devices en
dc.subject.other Low-force medical haptic simulators en
dc.subject.other Training medical simulators en
dc.subject.other Closed loop control systems en
dc.subject.other Degrees of freedom (mechanics) en
dc.subject.other Force control en
dc.subject.other System stability en
dc.subject.other Virtual reality en
dc.subject.other Algorithms en
dc.title Using force control for fidelity in low-force medical haptic simulators en
heal.type conferenceItem en
heal.identifier.primary 10.1109/CCA.2006.285889 en
heal.identifier.secondary http://dx.doi.org/10.1109/CCA.2006.285889 en
heal.identifier.secondary 4067248 en
heal.publicationDate 2007 en
heal.abstract In this paper the effect of force control in the fidelity of a low-force five degree-of-freedom (dof) haptic mechanism is investigated. Strict conditions that guarantee stability are presented. Our effort focuses on haptic devices, able to reproduce accurate low forces in a soft virtual environment, rather than large forces in stiff virtual environments. Open and closed loop controllers are applied to a haptic mechanism, which is a part of a training medical simulator for urological operations, and consists of a two-dof, five bar linkage and a three-dof spherical joint. The force control algorithm is described and discussed. Open and closed loop schemes are compared. Simulation and experimental results of the force control law applied to the five-dof mechanism are presented and discussed. It is shown that the use of closed loop force control law increases the haptic device fidelity and the realism of the simulation. It is also shown that in case of haptic devices used in soft virtual environments, issues like signal noise and device stiffness are more critical than maintaining system stability. © 2006 IEEE. en
heal.journalName Proceedings of the IEEE International Conference on Control Applications en
dc.identifier.doi 10.1109/CCA.2006.285889 en
dc.identifier.spage 181 en
dc.identifier.epage 186 en


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