Interfaz háptica de cuatro grados de libertad para aplicaciones quirúrgicas
Genoy-Muñoz, J. W. (Jimmer William) | 2014-04-30
This paper presents the design of haptic device that is conceived for biomedical applications. Specifically, the
device can be used for surgery training allowing the user to feel and handle simulated objects a tridimensional and tele-operated
environment. The haptic interface is a serial robot with four degrees of freedom that allows to set the orientation and position of
the end-effector into the work environment. Kinematic and dynamic models are used to study the robot movements and to build a
calculated torque controller. Finally, a simulation of the haptic interface is done in a virtual environment.