Title :
Design and Analysis of a New Six-DOF Haptic Device for Dental Training
Author :
Cao, Yonggang ; Zhang, Yuru ; Ma, Yunzhong ; Wang, Dangxiao
Author_Institution :
Beihang Univ., Beijing
Abstract :
This paper presents a new six DOF haptic device for dental surgery training system, which can provide 6 dimensional virtual force and torque. The proposed haptic device is based on a modified 6-RSS parallel mechanism. Small inertia of the device is obtained by locating all the actuators on the fixed platform. The inverse and forward kinematics of the device is solved by a new numerical method. Singular configurations are identified and prevented from being within the required task workspace. The required force and torque is achieved within the task workspace. The performance of the device has been proved satisfying the design requirements.
Keywords :
actuators; dentistry; haptic interfaces; medical control systems; surgery; torque; actuators; dental surgery training system; forward kinematics; haptic device; inverse kinematics; modified 6-RSS parallel mechanism; torque; virtual force; Actuators; Dentistry; Haptic interfaces; Human robot interaction; Kinematics; Motion analysis; Performance analysis; Surgery; Torque; Virtual prototyping;
Conference_Titel :
Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on
Conference_Location :
Jeju
Print_ISBN :
978-1-4244-1634-9
Electronic_ISBN :
978-1-4244-1635-6
DOI :
10.1109/ROMAN.2007.4415091
