Force Control Implementation of a Haptic Device for a Medical Use

被引：1
|
作者：
Saafi, H. [1 ]
Laribi, M. A. [2 ]
Zeghloul, S. [2 ]
机构：
[1] Univ Poitiers, Dept GMSC, Pprime Inst, CNRS,ENSMA,UPR 3346, Poitiers, France
[2] Univ Poitiers, Inst PPRIME, UPR 3346, Poitiers, France
来源：
ROBOTICS AND MECHATRONICS | 2016年 / 37卷
关键词：
Force control; Haptic device; Spherical parallel architecture;
D O I：
10.1007/978-3-319-22368-1_14
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper discusses the implementation of the force control of a haptic device. This device is used as a master device for a teleoperation system for minimally invasive surgery. The haptic device applies forces in the user's hand using actuators placed in the active joints. The master device has a spherical parallel architecture. The actuated joint torques are calculated using the jacobian matrix of the master device. Experiments are carried out in order to show the feasibility of the control force feedback. A force sensor was placed on the moving platform to measure the applied force and then to compare with the desired force. The results of the comparison are satisfactory for the desired application.
引用
收藏
页码：143 / 151
页数：9
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