Transparency maximization methodology for haptic devices

Vlachos, K; Papadopoulos, E

dc.contributor.author	Vlachos, K	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T01:25:26Z
dc.date.available	2014-03-01T01:25:26Z
dc.date.issued	2006	en
dc.identifier.issn	1083-4435	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/17661
dc.subject	Haptic devices	en
dc.subject	Multivariable optimization	en
dc.subject	Training medical simulators	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Engineering, Manufacturing	en
dc.subject.classification	Engineering, Electrical & Electronic	en
dc.subject.classification	Engineering, Mechanical	en
dc.subject.other	Haptic devices	en
dc.subject.other	Medical urological simulator	en
dc.subject.other	Multivariable optimization	en
dc.subject.other	Degrees of freedom (mechanics)	en
dc.subject.other	Electric motors	en
dc.subject.other	Optimization	en
dc.subject.other	Rotors	en
dc.subject.other	Transparency	en
dc.subject.other	Urology	en
dc.subject.other	Mechanical control equipment	en
dc.title	Transparency maximization methodology for haptic devices	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/TMECH.2006.875561	en
heal.identifier.secondary	http://dx.doi.org/10.1109/TMECH.2006.875561	en
heal.language	English	en
heal.publicationDate	2006	en
heal.abstract	In this paper, a design methodology is presented aimed at maximizing haptic device transparency, as seen from the user side. The methodology developed focuses on endpoint side fidelity, and optimizes not only mechanism dimensions, but also all relevant design parameters including relative position of end-point desired path to device location, motor transmission ratios, and rotor inertias or motor sizes. The methodology is applied to a 5-degree-of-freedom (5-DOF) haptic device, part of a training medical urological simulator, and is applicable to any haptic mechanism. The transparency maximization is achieved using a multi-variable optimization approach and an objective function including mechanism-induced parasitic torques/forces and motor and transmission parameters, as seen from the user side, under several constraints. The objective function and the kinematical and operational constraints are described and discussed. A new 5-DOF haptic mechanism is constructed according to the developed procedure, resulting in a substantially improved device with respect to an existing one, developed with a standard optimization method. © 2006 IEEE.	en
heal.publisher	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC	en
heal.journalName	IEEE/ASME Transactions on Mechatronics	en
dc.identifier.doi	10.1109/TMECH.2006.875561	en
dc.identifier.isi	ISI:000238704200001	en
dc.identifier.volume	11	en
dc.identifier.issue	3	en
dc.identifier.spage	249	en
dc.identifier.epage	255	en