title: A sensorized human torso phantom.
abstract: Force-torque measuring input devices can significantly enhance the performance of classical simulation environments that are, for example, based on pure passive phantoms. Such devices allow not only the determination of force/torque amplitude and direction but also the contact point on the phantom. The force/torque information can be displayed visually or acoustically, drive a realistic graphical animation environment or it can be saved and compared with a haptic library comprising the force/torque history of any medical specialist. In this paper the technical principle is exemplified by an interactive human torso. A plastic phantom model of a human torso is instrumented with a 6-degree-of-freedom force/torque sensor, thus, allowing an intuitive and interactive use for education of human anatomy.
authors.affiliation: Automatic Control Laboratory, ETH Zürich, Switzerland.
authors.forename: Robert
authors.initials: R
authors.lastname: Riener
authors.forename: Bundit
authors.initials: B
authors.lastname: Sae-Kee
authors.forename: Martin
authors.initials: M
authors.lastname: Frey
authors.forename: Rainer
authors.initials: R
authors.lastname: Burgkart
mesh_terms: D006801:Humans; D008953:Models, Anatomic; D014584:User-Computer Interface