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Design and implementation of series elastic actuators for a haptic laparoscopic device

Basafa, E ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1109/IEMBS.2009.5332616
  3. Abstract:
  4. 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. ©2009 IEEE
  5. Keywords:
  6. Experimental examination ; Haptic devices ; Human liver ; Low impedance ; Series elastic actuators ; Soft tissue ; Virtual environments ; Actuators ; Biology ; Virtual reality ; Machine design
  7. Source: Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009, 2 September 2009 through 6 September 2009, Minneapolis, MN ; 2009 , Pages 6054-6057 ; 9781424432967 (ISBN)
  8. URL: http://ieeexplore.ieee.org/document/5332616