On the design of a low-force 5-dof force-feedback haptic mechanism

Papadopoulos, E; Vlachos, K; Mitropoulos, D

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Vlachos, K	en
dc.contributor.author	Mitropoulos, D	en
dc.date.accessioned	2014-03-01T02:49:15Z
dc.date.available	2014-03-01T02:49:15Z
dc.date.issued	2002	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/34444
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-0036974793&partnerID=40&md5=e5f5ae8523808f50cb1a1c8c15fa2d55	en
dc.subject.other	Actuators	en
dc.subject.other	Degrees of freedom (mechanics)	en
dc.subject.other	Endoscopy	en
dc.subject.other	Feedback control	en
dc.subject.other	Force control	en
dc.subject.other	Torque control	en
dc.subject.other	Urology	en
dc.subject.other	Virtual reality	en
dc.subject.other	Force-feedback mechanism	en
dc.subject.other	Haptic interfaces	en
dc.title	On the design of a low-force 5-dof force-feedback haptic mechanism	en
heal.type	conferenceItem	en
heal.publicationDate	2002	en
heal.abstract	Virtual reality is becoming very important for training medical surgeons in various operations. Interfacing users with a virtual training environment, requires the existence of a properly designed haptic device. This paper presents the design of a new force feedback haptic mechanism with five active degrees of freedom (dof), which is used as part of a training simulator for urological operations. The mechanism consists of a two dof, 5-bar linkage and a three dof spherical joint, designed to present low friction, inertia and mass, to be statically balanced, and have a simple mass matrix. The device is suitable for the accurate application of small forces and moments. All five actuators of the haptic device are base-mounted DC motors and use a force transmission system based on capstan drives, pulleys and miniropes. The paper describes the chosen design, and its kinematics, dynamics, and control algorithm and hardware employed.	en
heal.journalName	Proceedings of the ASME Design Engineering Technical Conference	en
dc.identifier.volume	5 B	en
dc.identifier.spage	767	en
dc.identifier.epage	774	en