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• W2147484417 abstract "A 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." @default.
• W2147484417 created "2016-06-24" @default.
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• W2147484417 date "2003-06-25" @default.
• W2147484417 modified "2023-09-27" @default.
• W2147484417 title "Design of a 5-dof haptic simulator for urological operations" @default.
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• W2147484417 doi "https://doi.org/10.1109/robot.2002.1014847" @default.
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