Publication

Hanyang University HumanRobotics Lab

International Conference
Haptic Rendering of a Puncture Task with 4-Legged Parallel Haptic Device
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems
Author
H. W. Kim, I. H. Suh, and B. -J. Yi
Year
2004
Date
2004.09.28
File
[2004]Haptic Rendering of a Puncture Task with 4-Legged Parallel Haptic Device.pdf (465.3K) 0회 다운로드 DATE : 2020-10-17 21:29:08
A haptic rendering system is proposed for a puncture task of a virtual vertebra model. To build a mesh model from medical images, Delaunay triangulation is applied and physical models are based on elasticity theory. Also, a redundant actuated 6 DOF parallel type haptic device is designed to display large force and to resolve the singularity problem of parallel type mechanisms. Haptic feeling of puncture task and the performance of the proposed haptic device are tested by two puncture task experiments.