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Improvement of the direct kinematic model of a haptic device for medical application in real time using an extra sensor | IEEE Conference Publication | IEEE Xplore

Improvement of the direct kinematic model of a haptic device for medical application in real time using an extra sensor


Abstract:

This paper deals with a spherical parallel manipulator developed for a master device, used in a teleoperation system for surgical application. The aim is to improve the c...Show More

Abstract:

This paper deals with a spherical parallel manipulator developed for a master device, used in a teleoperation system for surgical application. The aim is to improve the calculation of the direct kinematic model (DKM) even when the parallel manipulator is in a singular configuration by using an extra sensor for a passive joint. A new simple approach for the DKM calculation of the haptic device, in order to meet requirement of real time applications, is developed.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
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ISSN Information:

Conference Location: Chicago, IL, USA

References

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