Servizio Comunitario di Informazione in materia di Ricerca e Sviluppo - CORDIS


MULTISENSE Sintesi della relazione

Project ID: IST-2001-34121
Finanziato nell'ambito di: FP5-IST
Paese: United Kingdom

Desktop haptic

To support the two hand haptic operation a desktop haptic device was developed that consists of two 3DOF closed chain mechanisms with each mechanisms being described as a classic five bar planar device. The haptic display was primary constructed from aluminium with some sections (joints) made from steel. Six 25W motors provide actuation at the six active joints of the mechanism. Joint position is measured by a digital optical encoder.

The power from the motors to the joint pulleys is transmitted through a tensioned cable drive (capstan drive) that also provides a gear ratio of 11:1. In addition the gear ratio provided by the tensioned cable drive enables the use of smaller motors reducing the overall inertia of the system. To enable the execution of two hand operations as required by the surgical access task the device can be configured to work in two different modes.

Double Independent mode Configuration, 2 x (6DOF input/, 3DOF feedback) or Coupled mode Configuration, 1 x (6DOF input, 5DOF feedback). In the first mode of operation the left and the right mechanism are independent providing two separate haptic access points. In the second mode the two mechanisms are connected together to form a single system.


Nikolaos TSAGARAKIS, (Research Fellow)
Tel.: +44-161-2954010
Fax: +44-161-2955145