Freedom-7 : A high fidelity seven axis haptic device with application to surgical training
Identifieur interne : 009082 ( Main/Merge ); précédent : 009081; suivant : 009083Freedom-7 : A high fidelity seven axis haptic device with application to surgical training
Auteurs : V. Hayward [Canada] ; P. Gregorio [Canada] ; O. Astley [Canada] ; S. Greenish [Canada] ; M. Doyon [Canada] ; L. Lessard [Canada] ; J. Mcdougall [Canada] ; I. Sinclair [Canada] ; S. Boelen [Canada] ; X. Chen [Canada] ; J.-G. Demers [Canada] ; J. Poulin [Canada]Source :
- Lecture notes in control and information sciences [ 0170-8643 ] ; 1998.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique, Réalité virtuelle, Chirurgie.
English descriptors
- KwdEn :
Abstract
A seven axis haptic device, called the Freedom-7, is described in relation to its application to surgical training. The generality of its concept makes it also relevant to most other haptic applications. The design rationale is driven by a long list of requirements since such a device is meant to interact with the human hand: uniform response, balanced inertial properties, static balancing, low inertia, high frequency response, high resolution, low friction, arbitrary reorientation, and low visual intrusion. Some basic performance figures are also reported.
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Hayward</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Dept. of Electrical Engineering and Center for Intelligent Machines, McGill University</s1><s2>Montréal</s2><s3>CAN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Canada</country><placeName><settlement type="city">Montréal</settlement><region type="state">Québec</region></placeName><orgName type="university">Université McGill</orgName></affiliation></author><author><name sortKey="Gregorio, P" sort="Gregorio, P" uniqKey="Gregorio P" first="P." last="Gregorio">P. Gregorio</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Dept. of Electrical Engineering and Center for Intelligent Machines, McGill University</s1><s2>Montréal</s2><s3>CAN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Canada</country><placeName><settlement type="city">Montréal</settlement><region type="state">Québec</region></placeName><orgName type="university">Université McGill</orgName></affiliation></author><author><name sortKey="Astley, O" sort="Astley, O" uniqKey="Astley O" first="O." last="Astley">O. Astley</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Dept. of Electrical Engineering and Center for Intelligent Machines, McGill University</s1><s2>Montréal</s2><s3>CAN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Canada</country><placeName><settlement type="city">Montréal</settlement><region type="state">Québec</region></placeName><orgName type="university">Université McGill</orgName></affiliation></author><author><name sortKey="Greenish, S" sort="Greenish, S" uniqKey="Greenish S" first="S." last="Greenish">S. Greenish</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Dept. of Electrical Engineering and Center for Intelligent Machines, McGill University</s1><s2>Montréal</s2><s3>CAN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Canada</country><placeName><settlement type="city">Montréal</settlement><region type="state">Québec</region></placeName><orgName type="university">Université McGill</orgName></affiliation></author><author><name sortKey="Doyon, M" sort="Doyon, M" uniqKey="Doyon M" first="M." last="Doyon">M. Doyon</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>Dept. of Electrical Engineering and Center for Intelligent Machines, McGill University</s1><s2>Montréal</s2><s3>CAN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ><sZ>5 aut.</sZ></inist:fA14><country>Canada</country><placeName><settlement type="city">Montréal</settlement><region type="state">Québec</region></placeName><orgName type="university">Université McGill</orgName></affiliation></author><author><name sortKey="Lessard, L" sort="Lessard, L" uniqKey="Lessard L" first="L." last="Lessard">L. Lessard</name><affiliation wicri:level="4"><inist:fA14 i1="02"><s1>Dept. of Mechanical Engineering, McGill University</s1><s2>Montréal</s2><s3>CAN</s3><sZ>6 aut.</sZ><sZ>7 aut.</sZ></inist:fA14><country>Canada</country><placeName><settlement type="city">Montréal</settlement><region type="state">Québec</region></placeName><orgName type="university">Université McGill</orgName></affiliation></author><author><name sortKey="Mcdougall, J" sort="Mcdougall, J" uniqKey="Mcdougall J" first="J." last="Mcdougall">J. Mcdougall</name><affiliation wicri:level="4"><inist:fA14 i1="02"><s1>Dept. of Mechanical Engineering, McGill University</s1><s2>Montréal</s2><s3>CAN</s3><sZ>6 aut.</sZ><sZ>7 aut.</sZ></inist:fA14><country>Canada</country><placeName><settlement type="city">Montréal</settlement><region type="state">Québec</region></placeName><orgName type="university">Université McGill</orgName></affiliation></author><author><name sortKey="Sinclair, I" sort="Sinclair, I" uniqKey="Sinclair I" first="I." last="Sinclair">I. Sinclair</name><affiliation wicri:level="1"><inist:fA14 i1="03"><s1>MPB Technologies Inc.</s1><s2>Pointe Claire</s2><s3>CAN</s3><sZ>8 aut.</sZ><sZ>9 aut.</sZ><sZ>10 aut.</sZ><sZ>11 aut.</sZ><sZ>12 aut.</sZ></inist:fA14><country>Canada</country><wicri:noRegion>MPB Technologies Inc.</wicri:noRegion></affiliation></author><author><name sortKey="Boelen, S" sort="Boelen, S" uniqKey="Boelen S" first="S." last="Boelen">S. Boelen</name><affiliation wicri:level="1"><inist:fA14 i1="03"><s1>MPB Technologies Inc.</s1><s2>Pointe Claire</s2><s3>CAN</s3><sZ>8 aut.</sZ><sZ>9 aut.</sZ><sZ>10 aut.</sZ><sZ>11 aut.</sZ><sZ>12 aut.</sZ></inist:fA14><country>Canada</country><wicri:noRegion>MPB Technologies Inc.</wicri:noRegion></affiliation></author><author><name sortKey="Chen, X" sort="Chen, X" uniqKey="Chen X" first="X." last="Chen">X. Chen</name><affiliation wicri:level="1"><inist:fA14 i1="03"><s1>MPB Technologies Inc.</s1><s2>Pointe Claire</s2><s3>CAN</s3><sZ>8 aut.</sZ><sZ>9 aut.</sZ><sZ>10 aut.</sZ><sZ>11 aut.</sZ><sZ>12 aut.</sZ></inist:fA14><country>Canada</country><wicri:noRegion>MPB Technologies Inc.</wicri:noRegion></affiliation></author><author><name sortKey="Demers, J G" sort="Demers, J G" uniqKey="Demers J" first="J.-G." last="Demers">J.-G. Demers</name><affiliation wicri:level="1"><inist:fA14 i1="03"><s1>MPB Technologies Inc.</s1><s2>Pointe Claire</s2><s3>CAN</s3><sZ>8 aut.</sZ><sZ>9 aut.</sZ><sZ>10 aut.</sZ><sZ>11 aut.</sZ><sZ>12 aut.</sZ></inist:fA14><country>Canada</country><wicri:noRegion>MPB Technologies Inc.</wicri:noRegion></affiliation></author><author><name sortKey="Poulin, J" sort="Poulin, J" uniqKey="Poulin J" first="J." last="Poulin">J. Poulin</name><affiliation wicri:level="1"><inist:fA14 i1="03"><s1>MPB Technologies Inc.</s1><s2>Pointe Claire</s2><s3>CAN</s3><sZ>8 aut.</sZ><sZ>9 aut.</sZ><sZ>10 aut.</sZ><sZ>11 aut.</sZ><sZ>12 aut.</sZ></inist:fA14><country>Canada</country><wicri:noRegion>MPB Technologies Inc.</wicri:noRegion></affiliation></author></analytic><series><title level="j" type="main">Lecture notes in control and information sciences</title><idno type="ISSN">0170-8643</idno><imprint><date when="1998">1998</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Lecture notes in control and information sciences</title><idno type="ISSN">0170-8643</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Manipulation</term><term>Robotics</term><term>Simulator</term><term>Surgery</term><term>Tactile sensitivity</term><term>Tool</term><term>User interface</term><term>Virtual reality</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Robotique</term><term>Réalité virtuelle</term><term>Simulateur</term><term>Chirurgie</term><term>Interface utilisateur</term><term>Sensibilité tactile</term><term>Outil</term><term>Manipulation</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term><term>Réalité virtuelle</term><term>Chirurgie</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">A seven axis haptic device, called the Freedom-7, is described in relation to its application to surgical training. The generality of its concept makes it also relevant to most other haptic applications. The design rationale is driven by a long list of requirements since such a device is meant to interact with the human hand: uniform response, balanced inertial properties, static balancing, low inertia, high frequency response, high resolution, low friction, arbitrary reorientation, and low visual intrusion. Some basic performance figures are also reported.</div></front></TEI><affiliations><list><country><li>Canada</li></country><region><li>Québec</li></region><settlement><li>Montréal</li></settlement><orgName><li>Université McGill</li></orgName></list><tree><country name="Canada"><region name="Québec"><name sortKey="Hayward, V" sort="Hayward, V" uniqKey="Hayward V" first="V." last="Hayward">V. Hayward</name></region><name sortKey="Astley, O" sort="Astley, O" uniqKey="Astley O" first="O." last="Astley">O. Astley</name><name sortKey="Boelen, S" sort="Boelen, S" uniqKey="Boelen S" first="S." last="Boelen">S. Boelen</name><name sortKey="Chen, X" sort="Chen, X" uniqKey="Chen X" first="X." last="Chen">X. Chen</name><name sortKey="Demers, J G" sort="Demers, J G" uniqKey="Demers J" first="J.-G." last="Demers">J.-G. Demers</name><name sortKey="Doyon, M" sort="Doyon, M" uniqKey="Doyon M" first="M." last="Doyon">M. Doyon</name><name sortKey="Greenish, S" sort="Greenish, S" uniqKey="Greenish S" first="S." last="Greenish">S. Greenish</name><name sortKey="Gregorio, P" sort="Gregorio, P" uniqKey="Gregorio P" first="P." last="Gregorio">P. Gregorio</name><name sortKey="Lessard, L" sort="Lessard, L" uniqKey="Lessard L" first="L." last="Lessard">L. Lessard</name><name sortKey="Mcdougall, J" sort="Mcdougall, J" uniqKey="Mcdougall J" first="J." last="Mcdougall">J. Mcdougall</name><name sortKey="Poulin, J" sort="Poulin, J" uniqKey="Poulin J" first="J." last="Poulin">J. 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