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	2014-03-01T02:51:18Z
dc.date.available	2014-03-01T02:51:18Z
dc.date.issued	2007	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/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