scholarly journals Design of a 4-DoF (degree of freedom) hybrid-haptic device for laparoscopic surgery

2021 ◽  
Vol 12 (1) ◽  
pp. 155-164
Author(s):  
Houssem Saafi ◽  
Med Amine Laribi ◽  
Said Zeghloul
Keyword(s):  
Laparoscopic Surgery ◽  
Degrees Of Freedom ◽  
Haptic Device ◽  
Haptic Interface ◽  
Gravity Compensation ◽  
Parallel Kinematics ◽  
Dimensional Synthesis ◽  
Parallel Chain ◽  
Serial Chain ◽  
Kinematic Performance

Abstract. This paper presents a novel kinematics architecture with 4 DoFs (degrees of freedom) intended to be used as a haptic interface for laparoscopic surgery. The proposed architecture is a result of an association of serial and parallel kinematics chains, with each one handling a part of the whole device DoF. The serial chain allows one to handle the translation and self-rotation and the parallel chain handles the two tilt motions, and this in a disjoint way as the natural gesture of the surgeon. The proposed hybrid-haptic device (HH device) benefits from the split DoF to ensure a good kinematic performance, large workspace, as well as gravity compensation. The kinematics study of the HH device is presented and followed by the optimal dimensional synthesis and the gravity compensation model.

Design of a Tension Based Haptic Interface: Spidar-G

2000 ◽  
Author(s):  
Seahak Kim ◽  
Masahiro Ishii ◽  
Yasuharu Koike ◽  
Makoto Sato
Keyword(s):  
Degrees Of Freedom ◽  
Haptic Device ◽  
Haptic Interface ◽  
Pick And Place ◽  
Place Task ◽  
6 Degrees Of Freedom

Abstract In this paper, we explain a haptic device which can input translation and orientation measuring the length of strings and display reflect force with 6 degrees of freedom (DOF) by using the tension of strings. We propose 2 methods to calculate translation and orientation and to display reflect force. Finally, we refer the characteristic of this device and its validity through the Pick-and-Place task.

VirSense: a novel haptic device with fixed-base motors and a gravity compensation system

2014 ◽  
Vol 41 (1) ◽  
pp. 37-49 ◽  
Author(s):  
Ahmad Mashayekhi ◽  
Ali Nahvi ◽  
Mojtaba Yazdani ◽  
Majid Mohammadi Moghadam ◽  
Mohammadreza Arbabtafti ◽  
...  
Keyword(s):  
Effective Mass ◽  
Power Transmission ◽  
Compensation System ◽  
Haptic Device ◽  
Haptic Interface ◽  
Gravity Compensation ◽  
Content Type ◽  
Fixed Base ◽  
Six Dof ◽  
Design And Manufacture

Purpose – This paper aims to present the design and implementation of VirSense, a novel six-DOF haptic interface system, with an emphasis on its gravity compensation and fixed-base motors. Design/methodology/approach – In this paper, the design and manufacture of the VirSense robot and its comparison with the existing haptic devices are presented. The kinematic analysis of the robot, design of the components, and manufacturing of the robot are explained as well. Findings – The proposed system is employed to generate a Virtual Sense (VirSense) with fixed-base motors and a spring compensation system for counterbalancing the torques generated by the weight of the links. The fixed bases of the motors reduce the system's effective mass and inertia, which is an important factor in haptic interface systems. A novel cabling system is used to transmit the motor torques to the end-effector. The spring-based gravity compensation system causes more reduction in the effective mass and inertia. Originality/value – This paper provides the details of the VirSense haptic device, its gravity compensation system, and a novel cabling power transmission.

Rigid Body Guidance of Human Gait as Constrained TRS Serial Chain

2014 ◽  
Author(s):  
Gim Song Soh
Keyword(s):  
Degrees Of Freedom ◽  
Point Of View ◽  
Human Gait ◽  
Synthesis Process ◽  
Dimensional Synthesis ◽  
Two Degrees Of Freedom ◽  
Serial Chain ◽  
Optical Motion ◽  
Musculoskeletal Function ◽  
Optical Motion Capture

The motion of gait is a cyclical activity that requires the coordination between locomotion mechanism, motor control and musculoskeletal function. The basic assumption is that one stride is the same as the next. From a simplified kinematics point of view, the human gait can be considered as a TRS serial chain with six degrees-of-freedom driven by the pelvis rotational and tilting motion during walking. This paper presents a dimensional synthesis procedure for the design of two degrees-of-freedom of spatial eight-bar linkages by mechanically constraining a TRS serial chain. The goal is to develop a methodology for the design of under-actuated lower limb walking devices or passively driven exoskeleton systems. The dimensional synthesis process starts with the specification of the links of a TRS chain according to the gait anthropometric data. We show the various ways how four TS constraints can be used to constrain the links of the this chain to obtain a two degrees-of-freedom spatial eight-bar linkage. We formulate and solve the design equations as well as analyze the resulting eight-bar linkage from the data we obtained from an optical motion capture system. An example demonstrates our results.

Optimal design and evaluation of a dexterous 4 DoFs haptic device based on delta architecture

Robotica ◽  
2018 ◽  
Vol 37 (7) ◽  
pp. 1267-1288 ◽  
Author(s):  
Célestin Préault ◽  
Houssem Saafi ◽  
Med Amine Laribi ◽  
Said Zeghloul
Keyword(s):  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Kinematic Model ◽  
Synthesis Method ◽  
Haptic Device ◽  
Dimensional Synthesis ◽  
Suitable Candidate ◽  
New Device ◽  
Kinematic Behavior ◽  
Spherical Parallel Manipulator

SUMMARYThis paper introduces a novel kinematic of a four degrees of freedom (DoFs) device based on Delta architecture. This new device is expected to be used as a haptic device for tele-operation applications. The challenging task was to obtain orientation DoFs from the Delta structure. A fourth leg is added to the Delta structure to convert translations into rotations and to provide translation of the handle. The fourth leg is linked to the base and to the moving platform by two universal joints. The architecture as well as the kinematic model of the new structure, called 4haptic, are presented. Comparisons in terms of kinematic behavior between the 4haptic device and the existing device developed based on spherical parallel manipulator architecture are presented. The results prove the improved behavior of the 4haptic device offering a singularity-free useful workspace, which makes it a suitable candidate to tele-operated system for Minimally Invasive Surgery. The dimensions of the 4haptic device, having the smallest workspace containing a prespecified region in space, are identified based on an optimal dimensional synthesis method.

scholarly journals Hybrid Seven-bar Press Mechanism

2018 ◽  
Vol 12 (3) ◽  
pp. 181-187
Author(s):  
M. Erkan Kütük ◽  
L. Canan Dülger
Keyword(s):  
Genetic Algorithm ◽  
Objective Function ◽  
Design Optimization ◽  
Hybrid System ◽  
Degrees Of Freedom ◽  
Dimensional Synthesis ◽  
Design Variables ◽  
Optimization Study ◽  
Metal Stamping

An optimization study with kinetostatic analysis is performed on hybrid seven-bar press mechanism. This study is based on previous studies performed on planar hybrid seven-bar linkage. Dimensional synthesis is performed, and optimum link lengths for the mechanism are found. Optimization study is performed by using genetic algorithm (GA). Genetic Algorithm Toolbox is used with Optimization Toolbox in MATLAB®. The design variables and the constraints are used during design optimization. The objective function is determined and eight precision points are used. A seven-bar linkage system with two degrees of freedom is chosen as an example. Metal stamping operation with a dwell is taken as the case study. Having completed optimization, the kinetostatic analysis is performed. All forces on the links and the crank torques are calculated on the hybrid system with the optimized link lengths

Workspace, dexterity and dimensional optimization of microhexapod

2015 ◽  
Vol 35 (4) ◽  
pp. 341-347 ◽  
Author(s):  
E. Rouhani ◽  
M. J. Nategh
Keyword(s):  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Screw Theory ◽  
Design Parameters ◽  
Dimensional Synthesis ◽  
Content Type ◽  
Workspace Analysis ◽  
The Difference ◽  
Flexure Joints ◽  
6 Degrees Of Freedom

Purpose – The purpose of this paper is to study the workspace and dexterity of a microhexapod which is a 6-degrees of freedom (DOF) parallel compliant manipulator, and also to investigate its dimensional synthesis to maximize the workspace and the global dexterity index at the same time. Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Design/methodology/approach – Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Findings – It has been shown that the proposed procedure for the workspace calculation can considerably speed the required calculations. The optimization results show that a converged-diverged configuration of pods and an increase in the difference between the moving and the stationary platforms’ radii cause the global dexterity index to increase and the workspace to decrease. Originality/value – The proposed algorithm for the workspace analysis is very important, especially when it is an objective function of an optimization problem based on the search method. In addition, using screw theory can simply construct the homogeneous Jacobian matrix. The proposed methodology can be used for any other micromanipulator.

Design of a Novel Parallel Mechanism for Haptic Device

2021 ◽  
pp. 1-63
Author(s):  
Jin Lixing ◽  
Duan Xingguang ◽  
Li Changsheng ◽  
Shi Qingxin ◽  
Wen Hao ◽  
...  
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Parallel Architecture ◽  
General Purpose ◽  
Haptic Device ◽  
Haptic Devices ◽  
Modeling And Optimization ◽  
Teleoperation Systems

Abstract This paper presents a novel parallel architecture with seven active degrees of freedom (DOFs) for general-purpose haptic devices. The prime features of the proposed mechanism are partial decoupling, large dexterous working area, and fixed actuators. The detailed processes of design, modeling, and optimization are introduced and the performance is simulated. After that, a mechanical prototype is fabricated and tested. Results of the simulations and experiments reveal that the proposed mechanism possesses excellent performances on motion flexibility and force feedback. This paper aims to provide a remarkable solution of the general-purpose haptic device for teleoperation systems with uncertain mission in complex applications.

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