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

Vlachos, K; Papadopoulos, E

dc.contributor.author	Vlachos, K	en
dc.contributor.author	Papadopoulos, E	en
dc.date.accessioned	2014-03-01T02:44:21Z
dc.date.available	2014-03-01T02:44:21Z
dc.date.issued	2006	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31770
dc.subject	Degree of Freedom	en
dc.subject	Force Control	en
dc.subject	Haptic Device	en
dc.subject	Medical Simulation	en
dc.subject	Virtual Environment	en
dc.subject.other	Closed loop controllers	en
dc.subject.other	Closed loops	en
dc.subject.other	Five-bar linkages	en
dc.subject.other	Force control algorithms	en
dc.subject.other	Haptic devices	en
dc.subject.other	Signal noise	en
dc.subject.other	Spherical joint	en
dc.subject.other	Virtual environments	en
dc.subject.other	Simulators	en
dc.subject.other	System stability	en
dc.subject.other	Virtual reality	en
dc.subject.other	Force control	en
dc.title	Using force control for fidelity in low-force medical haptic simulators	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CACSD-CCA-ISIC.2006.4776644	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CACSD-CCA-ISIC.2006.4776644	en
heal.identifier.secondary	4776644	en
heal.publicationDate	2006	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/CACSD-CCA-ISIC.2006.4776644	en
dc.identifier.spage	181	en
dc.identifier.epage	186	en