Design and implementation of series elastic actuators for a haptic laparoscopic device.
The design of a laparoscopic haptic device based on a 4-DOFs mechanism and Series Elastic Actuators (SEA) is described and the results of the theoretical and experimental examinations are presented. With a sufficient bandwidth and low impedance, the system provided a stable interaction with soft tissues, e.g., human liver, in virtual environments.
Basafa
E
E
Johns Hopkins University, Baltimore, MD 21218, USA. basafa@jhu.edu
Sheikholeslami
M
M
Mirbagheri
A
A
Farahmand
F
F
Vossoughi
G R
GR
D001676:Biofeedback, Psychology / Q000295:instrumentation; D003198:Computer Simulation; D017076:Computer-Aided Design; D003194:Computer-Assisted Instruction / Q000295:instrumentation* / Q000379:methods; D055119:Elastic Modulus; D004724:Endoscopy / Q000193:education*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D025461:Feedback, Physiological; D006801:Humans; D020706:Laparoscopes; D008954:Models, Biological; D010812:Physical Stimulation / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000193:education / Q000295:instrumentation* / Q000379:methods; D014110:Touch; D014481:United States; D014584:User-Computer Interface