Haptic interface hardware system for endoscopy training = 내시경 수련을 위한 햅틱 인터페이스 하드웨어 시스템

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This thesis develops a new haptic interface hardware system which is suitable for implementing the characteristics of endoscopy training. Endoscopic haptic devices with 4 DOF and 3 DOF are developed and the haptic interface system including the haptic device, the motor driver, the host computer with a control board, and Graphic User Interface (GUI) is implemented. The 3 DOF haptic device is designed with one prismatic joint and two revolute joints to provide endoscopic motions. The 4 DOF haptic device that improves defects of the 3 DOF haptic device and implements even roll motion of endoscopy is developed. Motor torques are transmitted using wire-driven mechanism which provides large torques and back drivability. Kinematics, inverse kinematics, and Jacobian matrix are derived. The central axes of each DOF are designed to intersect at one point, and this makes the equations of kinematics and inverse kinematics simple. Performance indexes such as continuous and maximum exertable force and torques, workspace, sensitivity, and inertia of each joint are measured. Frequency response tests such as bandwidth and phase are performed. Experiments to measure bandwidth of the 3 DOF PHANToM are performed to compare developed devices with commercial ones.
Advisors
Lee, Doo-Yongresearcher이두용researcher
Description
한국과학기술원 : 기계공학전공,
Publisher
한국과학기술원
Issue Date
2002
Identifier
173915/325007 / 020003325
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 기계공학전공, 2002.2, [ viii, 61 p. ]

Keywords

Haptic interface; endoscopy; 내시경; 햅틱 인터페이스

URI
http://hdl.handle.net/10203/45340
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=173915&flag=dissertation
Appears in Collection
ME-Theses_Master(석사논문)
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