Endpoint-side optimization of a five degree-of-freedom haptic mechanism

Vlachos, K; Papadopoulos, E

dc.contributor.author	Vlachos, K	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:43:14Z
dc.date.available	2014-03-01T02:43:14Z
dc.date.issued	2005	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31321
dc.subject	Degree of Freedom	en
dc.subject	Design Methodology	en
dc.subject	Haptic Device	en
dc.subject	Medical Simulation	en
dc.subject	Objective Function	en
dc.subject.other	Haptic devices	en
dc.subject.other	Maximum transparency	en
dc.subject.other	Parasitic forces	en
dc.subject.other	Urological operations	en
dc.subject.other	Computer simulation	en
dc.subject.other	Constraint theory	en
dc.subject.other	Degrees of freedom (mechanics)	en
dc.subject.other	Fault tolerant computer systems	en
dc.subject.other	Optimization	en
dc.subject.other	Transparency	en
dc.subject.other	Haptic interfaces	en
dc.title	Endpoint-side optimization of a five degree-of-freedom haptic mechanism	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/.2005.1467095	en
heal.identifier.secondary	http://dx.doi.org/10.1109/.2005.1467095	en
heal.identifier.secondary	1467095	en
heal.publicationDate	2005	en
heal.abstract	One of the main issues in the design of haptic devices is to provide maximum transparency. In this paper a design methodology, which aims at the maximization of the transparency for a low-force five degree-of-freedom (dof) haptic device, is presented. The haptic device is optimized along a typical path with proper tolerances, rather than at some workspace operating point. The device, part of a training medical simulator for urological operations, consists of a two dof, 5-bar linkage and a three dof spherical joint. The requirement for reliable reproduction of low torques and forces leads to the need for maximum transparency, in other words to the need for minimization of device induced parasitic forces and torques. The multivariable optimization employed is based on the minimization of an objective function that includes all the haptic device mass/inertia properties as seen from the user side. Kinematical and operational constraints are taken into account. A new 5-dof haptic mechanism is constructed according to the optimization results. The optimized mechanism is substantially improved with respect to an existing device. ©2005 IEEE.	en
heal.journalName	Proceedings of the 20th IEEE International Symposium on Intelligent Control, ISIC '05 and the 13th Mediterranean Conference on Control and Automation, MED '05	en
dc.identifier.doi	10.1109/.2005.1467095	en
dc.identifier.volume	2005	en
dc.identifier.spage	674	en
dc.identifier.epage	679	en