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• W2792051298 abstract "This paper discusses the design of a new spherical parallel manipulator (SPM), which is used as a master device for medical tasks. This device is obtained by changing the kinematics of a classic SPM to eliminate the singularity from the device's useful workspace. The kinematic models of the new device are studied. The geometric parameters of the new device are optimized to eliminate the singularity. A prototype of the new master device is presented. Experiments are carried out using the device which allowed the control of a surgical robot." @default.
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• W2792051298 date "2018-04-11" @default.
• W2792051298 modified "2023-09-25" @default.
• W2792051298 title "On the Development of a New Master Device Used for Medical Tasks" @default.
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• W2792051298 doi "https://doi.org/10.1115/1.4039590" @default.
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