HapticV1, PascalFrancis, Corpus, bibRecord, 001595

Freedom-7 : A high fidelity seven axis haptic device with application to surgical training

Identifieur interne : 001595 ( PascalFrancis/Corpus ); précédent : 001594; suivant : 001596

Freedom-7 : A high fidelity seven axis haptic device with application to surgical training

Auteurs : V. Hayward ; P. Gregorio ; O. Astley ; S. Greenish ; M. Doyon ; L. Lessard ; J. Mcdougall ; I. Sinclair ; S. Boelen ; X. Chen ; J.-G. Demers ; J. Poulin

Source :

Lecture notes in control and information sciences [ 0170-8643 ] ; 1998.

RBID : Pascal:98-0362185

Descripteurs français

Pascal (Inist)
- Robotique, Réalité virtuelle, Simulateur, Chirurgie, Interface utilisateur, Sensibilité tactile, Outil, Manipulation.

English descriptors

KwdEn :
- Manipulation, Robotics, Simulator, Surgery, Tactile sensitivity, Tool, User interface, Virtual reality.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A05				`@2 232`
A08	`01`	`1`	`ENG`	`@1 Freedom-7 : A high fidelity seven axis haptic device with application to surgical training`
A09	`01`	`1`	`ENG`	`@1 Experimental robotics V : Barcelona, 15-18 June 1997`
A11	`01`	`1`		`@1 HAYWARD (V.)`
A11	`02`	`1`		`@1 GREGORIO (P.)`
A11	`03`	`1`		`@1 ASTLEY (O.)`
A11	`04`	`1`		`@1 GREENISH (S.)`
A11	`05`	`1`		`@1 DOYON (M.)`
A11	`06`	`1`		`@1 LESSARD (L.)`
A11	`07`	`1`		`@1 MCDOUGALL (J.)`
A11	`08`	`1`		`@1 SINCLAIR (I.)`
A11	`09`	`1`		`@1 BOELEN (S.)`
A11	`10`	`1`		`@1 CHEN (X.)`
A11	`11`	`1`		`@1 DEMERS (J.-G.)`
A11	`12`	`1`		`@1 POULIN (J.)`
A12	`01`	`1`		`@1 CASALS (Alicia) @9 ed.`
A12	`02`	`1`		`@1 DE ALMEIDA (Anibal T.) @9 ed.`
A14	`01`			`@1 Dept. of Electrical Engineering and Center for Intelligent Machines, McGill University @2 Montréal @3 CAN @Z 1 aut. @Z 2 aut. @Z 3 aut. @Z 4 aut. @Z 5 aut.`
A14	`02`			`@1 Dept. of Mechanical Engineering, McGill University @2 Montréal @3 CAN @Z 6 aut. @Z 7 aut.`
A14	`03`			`@1 MPB Technologies Inc. @2 Pointe Claire @3 CAN @Z 8 aut. @Z 9 aut. @Z 10 aut. @Z 11 aut. @Z 12 aut.`
A20				`@1 445-456`
A21				`@1 1998`
A23	`01`			`@0 ENG`
A26	`01`			`@0 3-540-76218-3`
A43	`01`			`@1 INIST @2 17803 @5 354000078741350380`
A44				`@0 0000 @1 © 1998 INIST-CNRS. All rights reserved.`
A45				`@0 15 ref.`
A47	`01`	`1`		`@0 98-0362185`
A60				`@1 P @2 C`
A61				`@0 A`
A64		`1`		`@0 Lecture notes in control and information sciences`
A66	`01`			`@0 DEU`
C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D02D11`
C02	`02`	`X`		`@0 001D02B08`
C02	`03`	`X`		`@0 002B25M`
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 Réalité virtuelle @5 02`
C03	`02`	`X`	`ENG`	`@0 Virtual reality @5 02`
C03	`02`	`X`	`SPA`	`@0 Realidad virtual @5 02`
C03	`03`	`X`	`FRE`	`@0 Simulateur @5 03`
C03	`03`	`X`	`ENG`	`@0 Simulator @5 03`
C03	`03`	`X`	`SPA`	`@0 Simulador @5 03`
C03	`04`	`X`	`FRE`	`@0 Chirurgie @5 04`
C03	`04`	`X`	`ENG`	`@0 Surgery @5 04`
C03	`04`	`X`	`SPA`	`@0 Cirugía @5 04`
C03	`05`	`X`	`FRE`	`@0 Interface utilisateur @5 05`
C03	`05`	`X`	`ENG`	`@0 User interface @5 05`
C03	`05`	`X`	`SPA`	`@0 Interfase usuario @5 05`
C03	`06`	`X`	`FRE`	`@0 Sensibilité tactile @5 06`
C03	`06`	`X`	`ENG`	`@0 Tactile sensitivity @5 06`
C03	`06`	`X`	`SPA`	`@0 Sensibilidad tactil @5 06`
C03	`07`	`X`	`FRE`	`@0 Outil @5 07`
C03	`07`	`X`	`ENG`	`@0 Tool @5 07`
C03	`07`	`X`	`GER`	`@0 Werkzeug @5 07`
C03	`07`	`X`	`SPA`	`@0 Herramienta @5 07`
C03	`08`	`X`	`FRE`	`@0 Manipulation @5 08`
C03	`08`	`X`	`ENG`	`@0 Manipulation @5 08`
C03	`08`	`X`	`SPA`	`@0 Manipulación @5 08`
N21				`@1 243`

A30	`01`	`1`	`ENG`	`@1 ISER : international conference on experimental robotics @2 5 @3 Barcelona ESP @4 1997-06-15`

Format Inist (serveur)

NO :	PASCAL 98-0362185 INIST
ET :	Freedom-7 : A high fidelity seven axis haptic device with application to surgical training
AU :	HAYWARD (V.); GREGORIO (P.); ASTLEY (O.); GREENISH (S.); DOYON (M.); LESSARD (L.); MCDOUGALL (J.); SINCLAIR (I.); BOELEN (S.); CHEN (X.); DEMERS (J.-G.); POULIN (J.); CASALS (Alicia); DE ALMEIDA (Anibal T.)
AF :	Dept. of Electrical Engineering and Center for Intelligent Machines, McGill University/Montréal/Canada (1 aut., 2 aut., 3 aut., 4 aut., 5 aut.); Dept. of Mechanical Engineering, McGill University/Montréal/Canada (6 aut., 7 aut.); MPB Technologies Inc./Pointe Claire/Canada (8 aut., 9 aut., 10 aut., 11 aut., 12 aut.)
DT :	Publication en série; Congrès; Niveau analytique
SO :	Lecture notes in control and information sciences; ISSN 0170-8643; Allemagne; Da. 1998; Vol. 232; Pp. 445-456; Bibl. 15 ref.
LA :	Anglais
EA :	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.
CC :	001D02D11; 001D02B08; 002B25M
FD :	Robotique; Réalité virtuelle; Simulateur; Chirurgie; Interface utilisateur; Sensibilité tactile; Outil; Manipulation
ED :	Robotics; Virtual reality; Simulator; Surgery; User interface; Tactile sensitivity; Tool; Manipulation
GD :	Werkzeug
SD :	Robótica; Realidad virtual; Simulador; Cirugía; Interfase usuario; Sensibilidad tactil; Herramienta; Manipulación
LO :	INIST-17803.354000078741350380
ID :	98-0362185

Links to Exploration step

Pascal:98-0362185

Le document en format XML

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<sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Freedom-7 : A high fidelity seven axis haptic device with application to surgical training</title>
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<series><title level="j" type="main">Lecture notes in control and information sciences</title>
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<profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Manipulation</term>
<term>Robotics</term>
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<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>
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<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>
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<fA08 i1="01" i2="1" l="ENG"><s1>Freedom-7 : A high fidelity seven axis haptic device with application to surgical training</s1>
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<fA11 i1="01" i2="1"><s1>HAYWARD (V.)</s1>
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<fA11 i1="03" i2="1"><s1>ASTLEY (O.)</s1>
</fA11>
<fA11 i1="04" i2="1"><s1>GREENISH (S.)</s1>
</fA11>
<fA11 i1="05" i2="1"><s1>DOYON (M.)</s1>
</fA11>
<fA11 i1="06" i2="1"><s1>LESSARD (L.)</s1>
</fA11>
<fA11 i1="07" i2="1"><s1>MCDOUGALL (J.)</s1>
</fA11>
<fA11 i1="08" i2="1"><s1>SINCLAIR (I.)</s1>
</fA11>
<fA11 i1="09" i2="1"><s1>BOELEN (S.)</s1>
</fA11>
<fA11 i1="10" i2="1"><s1>CHEN (X.)</s1>
</fA11>
<fA11 i1="11" i2="1"><s1>DEMERS (J.-G.)</s1>
</fA11>
<fA11 i1="12" i2="1"><s1>POULIN (J.)</s1>
</fA11>
<fA12 i1="01" i2="1"><s1>CASALS (Alicia)</s1>
<s9>ed.</s9>
</fA12>
<fA12 i1="02" i2="1"><s1>DE ALMEIDA (Anibal T.)</s1>
<s9>ed.</s9>
</fA12>
<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>
</fA14>
<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>
</fA14>
<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>
</fA14>
<fA20><s1>445-456</s1>
</fA20>
<fA21><s1>1998</s1>
</fA21>
<fA23 i1="01"><s0>ENG</s0>
</fA23>
<fA26 i1="01"><s0>3-540-76218-3</s0>
</fA26>
<fA43 i1="01"><s1>INIST</s1>
<s2>17803</s2>
<s5>354000078741350380</s5>
</fA43>
<fA44><s0>0000</s0>
<s1>© 1998 INIST-CNRS. All rights reserved.</s1>
</fA44>
<fA45><s0>15 ref.</s0>
</fA45>
<fA47 i1="01" i2="1"><s0>98-0362185</s0>
</fA47>
<fA60><s1>P</s1>
<s2>C</s2>
</fA60>
<fA61><s0>A</s0>
</fA61>
<fA64 i2="1"><s0>Lecture notes in control and information sciences</s0>
</fA64>
<fA66 i1="01"><s0>DEU</s0>
</fA66>
<fC01 i1="01" l="ENG"><s0>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.</s0>
</fC01>
<fC02 i1="01" i2="X"><s0>001D02D11</s0>
</fC02>
<fC02 i1="02" i2="X"><s0>001D02B08</s0>
</fC02>
<fC02 i1="03" i2="X"><s0>002B25M</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>Réalité virtuelle</s0>
<s5>02</s5>
</fC03>
<fC03 i1="02" i2="X" l="ENG"><s0>Virtual reality</s0>
<s5>02</s5>
</fC03>
<fC03 i1="02" i2="X" l="SPA"><s0>Realidad virtual</s0>
<s5>02</s5>
</fC03>
<fC03 i1="03" i2="X" l="FRE"><s0>Simulateur</s0>
<s5>03</s5>
</fC03>
<fC03 i1="03" i2="X" l="ENG"><s0>Simulator</s0>
<s5>03</s5>
</fC03>
<fC03 i1="03" i2="X" l="SPA"><s0>Simulador</s0>
<s5>03</s5>
</fC03>
<fC03 i1="04" i2="X" l="FRE"><s0>Chirurgie</s0>
<s5>04</s5>
</fC03>
<fC03 i1="04" i2="X" l="ENG"><s0>Surgery</s0>
<s5>04</s5>
</fC03>
<fC03 i1="04" i2="X" l="SPA"><s0>Cirugía</s0>
<s5>04</s5>
</fC03>
<fC03 i1="05" i2="X" l="FRE"><s0>Interface utilisateur</s0>
<s5>05</s5>
</fC03>
<fC03 i1="05" i2="X" l="ENG"><s0>User interface</s0>
<s5>05</s5>
</fC03>
<fC03 i1="05" i2="X" l="SPA"><s0>Interfase usuario</s0>
<s5>05</s5>
</fC03>
<fC03 i1="06" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>06</s5>
</fC03>
<fC03 i1="06" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>06</s5>
</fC03>
<fC03 i1="06" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>06</s5>
</fC03>
<fC03 i1="07" i2="X" l="FRE"><s0>Outil</s0>
<s5>07</s5>
</fC03>
<fC03 i1="07" i2="X" l="ENG"><s0>Tool</s0>
<s5>07</s5>
</fC03>
<fC03 i1="07" i2="X" l="GER"><s0>Werkzeug</s0>
<s5>07</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Herramienta</s0>
<s5>07</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Manipulation</s0>
<s5>08</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Manipulation</s0>
<s5>08</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Manipulación</s0>
<s5>08</s5>
</fC03>
<fN21><s1>243</s1>
</fN21>
</pA>
<pR><fA30 i1="01" i2="1" l="ENG"><s1>ISER : international conference on experimental robotics</s1>
<s2>5</s2>
<s3>Barcelona ESP</s3>
<s4>1997-06-15</s4>
</fA30>
</pR>
</standard>
<server><NO>PASCAL 98-0362185 INIST</NO>
<ET>Freedom-7 : A high fidelity seven axis haptic device with application to surgical training</ET>
<AU>HAYWARD (V.); GREGORIO (P.); ASTLEY (O.); GREENISH (S.); DOYON (M.); LESSARD (L.); MCDOUGALL (J.); SINCLAIR (I.); BOELEN (S.); CHEN (X.); DEMERS (J.-G.); POULIN (J.); CASALS (Alicia); DE ALMEIDA (Anibal T.)</AU>
<AF>Dept. of Electrical Engineering and Center for Intelligent Machines, McGill University/Montréal/Canada (1 aut., 2 aut., 3 aut., 4 aut., 5 aut.); Dept. of Mechanical Engineering, McGill University/Montréal/Canada (6 aut., 7 aut.); MPB Technologies Inc./Pointe Claire/Canada (8 aut., 9 aut., 10 aut., 11 aut., 12 aut.)</AF>
<DT>Publication en série; Congrès; Niveau analytique</DT>
<SO>Lecture notes in control and information sciences; ISSN 0170-8643; Allemagne; Da. 1998; Vol. 232; Pp. 445-456; Bibl. 15 ref.</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D02D11; 001D02B08; 002B25M</CC>
<FD>Robotique; Réalité virtuelle; Simulateur; Chirurgie; Interface utilisateur; Sensibilité tactile; Outil; Manipulation</FD>
<ED>Robotics; Virtual reality; Simulator; Surgery; User interface; Tactile sensitivity; Tool; Manipulation</ED>
<GD>Werkzeug</GD>
<SD>Robótica; Realidad virtual; Simulador; Cirugía; Interfase usuario; Sensibilidad tactil; Herramienta; Manipulación</SD>
<LO>INIST-17803.354000078741350380</LO>
<ID>98-0362185</ID>
</server>
</inist>
</record>

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Freedom-7 : A high fidelity seven axis haptic device with application to surgical training

Freedom-7 : A high fidelity seven axis haptic device with application to surgical training

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