Design of a 5-dof haptic simulator for urological operations
Identifieur interne :
001032 ( PascalFrancis/Corpus );
précédent :
001031;
suivant :
001033
Design of a 5-dof haptic simulator for urological operations
Auteurs : Evangelos Papadopoulos ;
Kostas Vlachos ;
Dionyssios MitropoulosSource :
-
Proceedings - IEEE International Conference on Robotics and Automation [ 1050-4729 ] ; 2002.
RBID : Pascal:04-0203666
Descripteurs français
- Pascal (Inist)
- Robotique,
Rétroaction,
Commande mouvement,
Boucle commande,
Sensibilité tactile,
Simulateur,
Poutre,
Mécanisme articulé,
Système 3 degrés liberté,
Frottement,
Inertie,
Roulis,
Tangage,
Oscillation lacet,
Matrice masse.
English descriptors
- KwdEn :
- Beam(mechanics),
Control loop,
Feedback regulation,
Friction,
Inertia,
Linkage mechanism,
Mass matrix,
Motion control,
Pitching,
Robotics,
Roll,
Simulator,
System with three degrees of freedom,
Tactile sensitivity,
Yawing.
Abstract
A new haptic feedback mechanism with five active degrees of freedom- (dof), part of a training simulator for urological operations, is presented. The mechanism consists of a 2-dof 5-bar linkage, and a 3-dof spherical joint. To reproduce very small forces and moments, the mechanism has low friction, inertia and mass, is statically balanced, and has a simple mass matrix. Roll-pitch-yaw motions of the tool result in motions of the corresponding actuator. Force feedback transmission is achieved via capstan drives and idler pulleys. The computation of the currents and the structure of the control loop are described.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
| pA |
| A01 | 01 | 1 | | @0 1050-4729 |
|---|
| A08 | 01 | 1 | ENG | @1 Design of a 5-dof haptic simulator for urological operations |
|---|
| A09 | 01 | 1 | ENG | @1 Robotics and automation : Washington DC, 11-15 May 2002 |
|---|
| A11 | 01 | 1 | | @1 PAPADOPOULOS (Evangelos) |
|---|
| A11 | 02 | 1 | | @1 VLACHOS (Kostas) |
|---|
| A11 | 03 | 1 | | @1 MITROPOULOS (Dionyssios) |
|---|
| A14 | 01 | | | @1 Department of Mechanical Engineering, National Technical University of Athens @2 15780 Athens @3 GRC @Z 1 aut. @Z 2 aut. |
|---|
| A14 | 02 | | | @1 School of Medicine, National Capodistrian University of Athens @2 Athens @3 GRC @Z 3 aut. |
|---|
| A18 | 01 | 1 | | @1 IEEE Robotics and Automatic Society @3 USA @9 patr. |
|---|
| A20 | | | | @1 2079-2084 |
|---|
| A21 | | | | @1 2002 |
|---|
| A23 | 01 | | | @0 ENG |
|---|
| A26 | 01 | | | @0 0-7803-7272-7 |
|---|
| A43 | 01 | | | @1 INIST @2 Y 37947 @5 354000117766643280 |
|---|
| A44 | | | | @0 0000 @1 © 2004 INIST-CNRS. All rights reserved. |
|---|
| A45 | | | | @0 13 ref. |
|---|
| A47 | 01 | 1 | | @0 04-0203666 |
|---|
| A60 | | | | @1 P @2 C |
|---|
| A61 | | | | @0 A |
|---|
| A64 | 01 | 1 | | @0 Proceedings - IEEE International Conference on Robotics and Automation |
|---|
| A66 | 01 | | | @0 USA |
|---|
| C01 | 01 | | ENG | @0 A new haptic feedback mechanism with five active degrees of freedom- (dof), part of a training simulator for urological operations, is presented. The mechanism consists of a 2-dof 5-bar linkage, and a 3-dof spherical joint. To reproduce very small forces and moments, the mechanism has low friction, inertia and mass, is statically balanced, and has a simple mass matrix. Roll-pitch-yaw motions of the tool result in motions of the corresponding actuator. Force feedback transmission is achieved via capstan drives and idler pulleys. The computation of the currents and the structure of the control loop are described. |
|---|
| C02 | 01 | X | | @0 001D02D11 |
|---|
| C03 | 01 | X | FRE | @0 Robotique @5 01 |
|---|
| C03 | 01 | X | ENG | @0 Robotics @5 01 |
|---|
| C03 | 01 | X | SPA | @0 Robótica @5 01 |
|---|
| C03 | 02 | X | FRE | @0 Rétroaction @5 09 |
|---|
| C03 | 02 | X | ENG | @0 Feedback regulation @5 09 |
|---|
| C03 | 02 | X | SPA | @0 Retroacción @5 09 |
|---|
| C03 | 03 | X | FRE | @0 Commande mouvement @5 10 |
|---|
| C03 | 03 | X | ENG | @0 Motion control @5 10 |
|---|
| C03 | 03 | X | SPA | @0 Control movimiento @5 10 |
|---|
| C03 | 04 | X | FRE | @0 Boucle commande @5 11 |
|---|
| C03 | 04 | X | ENG | @0 Control loop @5 11 |
|---|
| C03 | 04 | X | SPA | @0 Bucle control @5 11 |
|---|
| C03 | 05 | X | FRE | @0 Sensibilité tactile @5 18 |
|---|
| C03 | 05 | X | ENG | @0 Tactile sensitivity @5 18 |
|---|
| C03 | 05 | X | SPA | @0 Sensibilidad tactil @5 18 |
|---|
| C03 | 06 | X | FRE | @0 Simulateur @5 19 |
|---|
| C03 | 06 | X | ENG | @0 Simulator @5 19 |
|---|
| C03 | 06 | X | SPA | @0 Simulador @5 19 |
|---|
| C03 | 07 | X | FRE | @0 Poutre @5 20 |
|---|
| C03 | 07 | X | ENG | @0 Beam(mechanics) @5 20 |
|---|
| C03 | 07 | X | SPA | @0 Viga @5 20 |
|---|
| C03 | 08 | X | FRE | @0 Mécanisme articulé @5 21 |
|---|
| C03 | 08 | X | ENG | @0 Linkage mechanism @5 21 |
|---|
| C03 | 08 | X | SPA | @0 Mecanismo articulado @5 21 |
|---|
| C03 | 09 | X | FRE | @0 Système 3 degrés liberté @5 22 |
|---|
| C03 | 09 | X | ENG | @0 System with three degrees of freedom @5 22 |
|---|
| C03 | 09 | X | SPA | @0 Sistema 3 grados libertad @5 22 |
|---|
| C03 | 10 | X | FRE | @0 Frottement @5 23 |
|---|
| C03 | 10 | X | ENG | @0 Friction @5 23 |
|---|
| C03 | 10 | X | SPA | @0 Frotamiento @5 23 |
|---|
| C03 | 11 | X | FRE | @0 Inertie @5 24 |
|---|
| C03 | 11 | X | ENG | @0 Inertia @5 24 |
|---|
| C03 | 11 | X | SPA | @0 Inercia @5 24 |
|---|
| C03 | 12 | X | FRE | @0 Roulis @5 25 |
|---|
| C03 | 12 | X | ENG | @0 Roll @5 25 |
|---|
| C03 | 12 | X | SPA | @0 Balanceo @5 25 |
|---|
| C03 | 13 | X | FRE | @0 Tangage @5 26 |
|---|
| C03 | 13 | X | ENG | @0 Pitching @5 26 |
|---|
| C03 | 13 | X | SPA | @0 Cabeceo @5 26 |
|---|
| C03 | 14 | X | FRE | @0 Oscillation lacet @5 27 |
|---|
| C03 | 14 | X | ENG | @0 Yawing @5 27 |
|---|
| C03 | 14 | X | SPA | @0 Movimiento lazo @5 27 |
|---|
| C03 | 15 | X | FRE | @0 Matrice masse @5 28 |
|---|
| C03 | 15 | X | ENG | @0 Mass matrix @5 28 |
|---|
| C03 | 15 | X | SPA | @0 Matriz masa @5 28 |
|---|
| N21 | | | | @1 138 |
|---|
| N82 | | | | @1 OTO |
|---|
|
|---|
| pR |
| A30 | 01 | 1 | ENG | @1 IEEE international conference on robotics and automation @3 Washington DC USA @4 2002-05-11 |
|---|
|
|---|
Format Inist (serveur)
| NO : | PASCAL 04-0203666 INIST |
|---|
| ET : | Design of a 5-dof haptic simulator for urological operations |
|---|
| AU : | PAPADOPOULOS (Evangelos); VLACHOS (Kostas); MITROPOULOS (Dionyssios) |
|---|
| AF : | Department of Mechanical Engineering, National Technical University of Athens/15780 Athens/Grèce (1 aut., 2 aut.); School of Medicine, National Capodistrian University of Athens/Athens/Grèce (3 aut.) |
|---|
| DT : | Publication en série; Congrès; Niveau analytique |
|---|
| SO : | Proceedings - IEEE International Conference on Robotics and Automation; ISSN 1050-4729; Etats-Unis; Da. 2002; Pp. 2079-2084; Bibl. 13 ref. |
|---|
| LA : | Anglais |
|---|
| EA : | A new haptic feedback mechanism with five active degrees of freedom- (dof), part of a training simulator for urological operations, is presented. The mechanism consists of a 2-dof 5-bar linkage, and a 3-dof spherical joint. To reproduce very small forces and moments, the mechanism has low friction, inertia and mass, is statically balanced, and has a simple mass matrix. Roll-pitch-yaw motions of the tool result in motions of the corresponding actuator. Force feedback transmission is achieved via capstan drives and idler pulleys. The computation of the currents and the structure of the control loop are described. |
|---|
| CC : | 001D02D11 |
|---|
| FD : | Robotique; Rétroaction; Commande mouvement; Boucle commande; Sensibilité tactile; Simulateur; Poutre; Mécanisme articulé; Système 3 degrés liberté; Frottement; Inertie; Roulis; Tangage; Oscillation lacet; Matrice masse |
|---|
| ED : | Robotics; Feedback regulation; Motion control; Control loop; Tactile sensitivity; Simulator; Beam(mechanics); Linkage mechanism; System with three degrees of freedom; Friction; Inertia; Roll; Pitching; Yawing; Mass matrix |
|---|
| SD : | Robótica; Retroacción; Control movimiento; Bucle control; Sensibilidad tactil; Simulador; Viga; Mecanismo articulado; Sistema 3 grados libertad; Frotamiento; Inercia; Balanceo; Cabeceo; Movimiento lazo; Matriz masa |
|---|
| LO : | INIST-Y 37947.354000117766643280 |
|---|
| ID : | 04-0203666 |
|---|
Links to Exploration step
Pascal:04-0203666
Le document en format XML
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<s2>15780 Athens</s2>
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</publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Design of a 5-dof haptic simulator for urological operations</title>
<author><name sortKey="Papadopoulos, Evangelos" sort="Papadopoulos, Evangelos" uniqKey="Papadopoulos E" first="Evangelos" last="Papadopoulos">Evangelos Papadopoulos</name>
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<sZ>1 aut.</sZ>
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</inist:fA14><author><name sortKey="Vlachos, Kostas" sort="Vlachos, Kostas" uniqKey="Vlachos K" first="Kostas" last="Vlachos">Kostas Vlachos</name>
<affiliation><inist:fA14 i1="01"><s1>Department of Mechanical Engineering, National Technical University of Athens</s1>
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<sZ>2 aut.</sZ>
</inist:fA14><author><name sortKey="Mitropoulos, Dionyssios" sort="Mitropoulos, Dionyssios" uniqKey="Mitropoulos D" first="Dionyssios" last="Mitropoulos">Dionyssios Mitropoulos</name>
<affiliation><inist:fA14 i1="02"><s1>School of Medicine, National Capodistrian University of Athens</s1>
<s2>Athens</s2>
<s3>GRC</s3>
<sZ>3 aut.</sZ>
</inist:fA14><series><title level="j" type="main">Proceedings - IEEE International Conference on Robotics and Automation</title>
<idno type="ISSN">1050-4729</idno>
<imprint><date when="2002">2002</date>
</imprint><seriesStmt><title level="j" type="main">Proceedings - IEEE International Conference on Robotics and Automation</title>
<idno type="ISSN">1050-4729</idno>
</seriesStmt><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Beam(mechanics)</term>
<term>Control loop</term>
<term>Feedback regulation</term>
<term>Friction</term>
<term>Inertia</term>
<term>Linkage mechanism</term>
<term>Mass matrix</term>
<term>Motion control</term>
<term>Pitching</term>
<term>Robotics</term>
<term>Roll</term>
<term>Simulator</term>
<term>System with three degrees of freedom</term>
<term>Tactile sensitivity</term>
<term>Yawing</term>
</keywords><keywords scheme="Pascal" xml:lang="fr"><term>Robotique</term>
<term>Rétroaction</term>
<term>Commande mouvement</term>
<term>Boucle commande</term>
<term>Sensibilité tactile</term>
<term>Simulateur</term>
<term>Poutre</term>
<term>Mécanisme articulé</term>
<term>Système 3 degrés liberté</term>
<term>Frottement</term>
<term>Inertie</term>
<term>Roulis</term>
<term>Tangage</term>
<term>Oscillation lacet</term>
<term>Matrice masse</term>
</keywords><front><div type="abstract" xml:lang="en">A new haptic feedback mechanism with five active degrees of freedom- (dof), part of a training simulator for urological operations, is presented. The mechanism consists of a 2-dof 5-bar linkage, and a 3-dof spherical joint. To reproduce very small forces and moments, the mechanism has low friction, inertia and mass, is statically balanced, and has a simple mass matrix. Roll-pitch-yaw motions of the tool result in motions of the corresponding actuator. Force feedback transmission is achieved via capstan drives and idler pulleys. The computation of the currents and the structure of the control loop are described.</div>
</front><inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>1050-4729</s0>
</fA01><fA08 i1="01" i2="1" l="ENG"><s1>Design of a 5-dof haptic simulator for urological operations</s1>
</fA08><fA09 i1="01" i2="1" l="ENG"><s1>Robotics and automation : Washington DC, 11-15 May 2002</s1>
</fA09><fA11 i1="01" i2="1"><s1>PAPADOPOULOS (Evangelos)</s1>
</fA11><fA11 i1="02" i2="1"><s1>VLACHOS (Kostas)</s1>
</fA11><fA11 i1="03" i2="1"><s1>MITROPOULOS (Dionyssios)</s1>
</fA11><fA14 i1="01"><s1>Department of Mechanical Engineering, National Technical University of Athens</s1>
<s2>15780 Athens</s2>
<s3>GRC</s3>
<sZ>1 aut.</sZ>
<sZ>2 aut.</sZ>
</fA14><fA14 i1="02"><s1>School of Medicine, National Capodistrian University of Athens</s1>
<s2>Athens</s2>
<s3>GRC</s3>
<sZ>3 aut.</sZ>
</fA14><fA18 i1="01" i2="1"><s1>IEEE Robotics and Automatic Society</s1>
<s3>USA</s3>
<s9>patr.</s9>
</fA18><fA20><s1>2079-2084</s1>
</fA20><fA21><s1>2002</s1>
</fA21><fA23 i1="01"><s0>ENG</s0>
</fA23><fA26 i1="01"><s0>0-7803-7272-7</s0>
</fA26><fA43 i1="01"><s1>INIST</s1>
<s2>Y 37947</s2>
<s5>354000117766643280</s5>
</fA43><fA44><s0>0000</s0>
<s1>© 2004 INIST-CNRS. All rights reserved.</s1>
</fA44><fA45><s0>13 ref.</s0>
</fA45><fA47 i1="01" i2="1"><s0>04-0203666</s0>
</fA47><fA60><s1>P</s1>
<s2>C</s2>
</fA60><fA64 i1="01" i2="1"><s0>Proceedings - IEEE International Conference on Robotics and Automation</s0>
</fA64><fA66 i1="01"><s0>USA</s0>
</fA66><fC01 i1="01" l="ENG"><s0>A new haptic feedback mechanism with five active degrees of freedom- (dof), part of a training simulator for urological operations, is presented. The mechanism consists of a 2-dof 5-bar linkage, and a 3-dof spherical joint. To reproduce very small forces and moments, the mechanism has low friction, inertia and mass, is statically balanced, and has a simple mass matrix. Roll-pitch-yaw motions of the tool result in motions of the corresponding actuator. Force feedback transmission is achieved via capstan drives and idler pulleys. The computation of the currents and the structure of the control loop are described.</s0>
</fC01><fC02 i1="01" i2="X"><s0>001D02D11</s0>
</fC02><fC03 i1="01" i2="X" l="FRE"><s0>Robotique</s0>
<s5>01</s5>
</fC03><fC03 i1="01" i2="X" l="ENG"><s0>Robotics</s0>
<s5>01</s5>
</fC03><fC03 i1="01" i2="X" l="SPA"><s0>Robótica</s0>
<s5>01</s5>
</fC03><fC03 i1="02" i2="X" l="FRE"><s0>Rétroaction</s0>
<s5>09</s5>
</fC03><fC03 i1="02" i2="X" l="ENG"><s0>Feedback regulation</s0>
<s5>09</s5>
</fC03><fC03 i1="02" i2="X" l="SPA"><s0>Retroacción</s0>
<s5>09</s5>
</fC03><fC03 i1="03" i2="X" l="FRE"><s0>Commande mouvement</s0>
<s5>10</s5>
</fC03><fC03 i1="03" i2="X" l="ENG"><s0>Motion control</s0>
<s5>10</s5>
</fC03><fC03 i1="03" i2="X" l="SPA"><s0>Control movimiento</s0>
<s5>10</s5>
</fC03><fC03 i1="04" i2="X" l="FRE"><s0>Boucle commande</s0>
<s5>11</s5>
</fC03><fC03 i1="04" i2="X" l="ENG"><s0>Control loop</s0>
<s5>11</s5>
</fC03><fC03 i1="04" i2="X" l="SPA"><s0>Bucle control</s0>
<s5>11</s5>
</fC03><fC03 i1="05" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>18</s5>
</fC03><fC03 i1="05" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>18</s5>
</fC03><fC03 i1="05" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>18</s5>
</fC03><fC03 i1="06" i2="X" l="FRE"><s0>Simulateur</s0>
<s5>19</s5>
</fC03><fC03 i1="06" i2="X" l="ENG"><s0>Simulator</s0>
<s5>19</s5>
</fC03><fC03 i1="06" i2="X" l="SPA"><s0>Simulador</s0>
<s5>19</s5>
</fC03><fC03 i1="07" i2="X" l="FRE"><s0>Poutre</s0>
<s5>20</s5>
</fC03><fC03 i1="07" i2="X" l="ENG"><s0>Beam(mechanics)</s0>
<s5>20</s5>
</fC03><fC03 i1="07" i2="X" l="SPA"><s0>Viga</s0>
<s5>20</s5>
</fC03><fC03 i1="08" i2="X" l="FRE"><s0>Mécanisme articulé</s0>
<s5>21</s5>
</fC03><fC03 i1="08" i2="X" l="ENG"><s0>Linkage mechanism</s0>
<s5>21</s5>
</fC03><fC03 i1="08" i2="X" l="SPA"><s0>Mecanismo articulado</s0>
<s5>21</s5>
</fC03><fC03 i1="09" i2="X" l="FRE"><s0>Système 3 degrés liberté</s0>
<s5>22</s5>
</fC03><fC03 i1="09" i2="X" l="ENG"><s0>System with three degrees of freedom</s0>
<s5>22</s5>
</fC03><fC03 i1="09" i2="X" l="SPA"><s0>Sistema 3 grados libertad</s0>
<s5>22</s5>
</fC03><fC03 i1="10" i2="X" l="FRE"><s0>Frottement</s0>
<s5>23</s5>
</fC03><fC03 i1="10" i2="X" l="ENG"><s0>Friction</s0>
<s5>23</s5>
</fC03><fC03 i1="10" i2="X" l="SPA"><s0>Frotamiento</s0>
<s5>23</s5>
</fC03><fC03 i1="11" i2="X" l="FRE"><s0>Inertie</s0>
<s5>24</s5>
</fC03><fC03 i1="11" i2="X" l="ENG"><s0>Inertia</s0>
<s5>24</s5>
</fC03><fC03 i1="11" i2="X" l="SPA"><s0>Inercia</s0>
<s5>24</s5>
</fC03><fC03 i1="12" i2="X" l="FRE"><s0>Roulis</s0>
<s5>25</s5>
</fC03><fC03 i1="12" i2="X" l="ENG"><s0>Roll</s0>
<s5>25</s5>
</fC03><fC03 i1="12" i2="X" l="SPA"><s0>Balanceo</s0>
<s5>25</s5>
</fC03><fC03 i1="13" i2="X" l="FRE"><s0>Tangage</s0>
<s5>26</s5>
</fC03><fC03 i1="13" i2="X" l="ENG"><s0>Pitching</s0>
<s5>26</s5>
</fC03><fC03 i1="13" i2="X" l="SPA"><s0>Cabeceo</s0>
<s5>26</s5>
</fC03><fC03 i1="14" i2="X" l="FRE"><s0>Oscillation lacet</s0>
<s5>27</s5>
</fC03><fC03 i1="14" i2="X" l="ENG"><s0>Yawing</s0>
<s5>27</s5>
</fC03><fC03 i1="14" i2="X" l="SPA"><s0>Movimiento lazo</s0>
<s5>27</s5>
</fC03><fC03 i1="15" i2="X" l="FRE"><s0>Matrice masse</s0>
<s5>28</s5>
</fC03><fC03 i1="15" i2="X" l="ENG"><s0>Mass matrix</s0>
<s5>28</s5>
</fC03><fC03 i1="15" i2="X" l="SPA"><s0>Matriz masa</s0>
<s5>28</s5>
</fC03><fN21><s1>138</s1>
</fN21><fN82><s1>OTO</s1>
</fN82><pR><fA30 i1="01" i2="1" l="ENG"><s1>IEEE international conference on robotics and automation</s1>
<s3>Washington DC USA</s3>
<s4>2002-05-11</s4>
</fA30><server><NO>PASCAL 04-0203666 INIST</NO>
<ET>Design of a 5-dof haptic simulator for urological operations</ET>
<AU>PAPADOPOULOS (Evangelos); VLACHOS (Kostas); MITROPOULOS (Dionyssios)</AU>
<AF>Department of Mechanical Engineering, National Technical University of Athens/15780 Athens/Grèce (1 aut., 2 aut.); School of Medicine, National Capodistrian University of Athens/Athens/Grèce (3 aut.)</AF>
<DT>Publication en série; Congrès; Niveau analytique</DT>
<SO>Proceedings - IEEE International Conference on Robotics and Automation; ISSN 1050-4729; Etats-Unis; Da. 2002; Pp. 2079-2084; Bibl. 13 ref.</SO>
<LA>Anglais</LA>
<EA>A new haptic feedback mechanism with five active degrees of freedom- (dof), part of a training simulator for urological operations, is presented. The mechanism consists of a 2-dof 5-bar linkage, and a 3-dof spherical joint. To reproduce very small forces and moments, the mechanism has low friction, inertia and mass, is statically balanced, and has a simple mass matrix. Roll-pitch-yaw motions of the tool result in motions of the corresponding actuator. Force feedback transmission is achieved via capstan drives and idler pulleys. The computation of the currents and the structure of the control loop are described.</EA>
<CC>001D02D11</CC>
<FD>Robotique; Rétroaction; Commande mouvement; Boucle commande; Sensibilité tactile; Simulateur; Poutre; Mécanisme articulé; Système 3 degrés liberté; Frottement; Inertie; Roulis; Tangage; Oscillation lacet; Matrice masse</FD>
<ED>Robotics; Feedback regulation; Motion control; Control loop; Tactile sensitivity; Simulator; Beam(mechanics); Linkage mechanism; System with three degrees of freedom; Friction; Inertia; Roll; Pitching; Yawing; Mass matrix</ED>
<SD>Robótica; Retroacción; Control movimiento; Bucle control; Sensibilidad tactil; Simulador; Viga; Mecanismo articulado; Sistema 3 grados libertad; Frotamiento; Inercia; Balanceo; Cabeceo; Movimiento lazo; Matriz masa</SD>
<LO>INIST-Y 37947.354000117766643280</LO>
<ID>04-0203666</ID>
</server>
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