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Haptic Display of A Puncture Task with 4-legged 6 DOF Parallel Haptic Device  

김형욱 (한양대학교 전자공학과)
서일홍 (한양대학교 정보통신대학원)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.41, no.6, 2004 , pp. 1-10 More about this Journal
Abstract
A haptic rendering system is proposed for a puncture task of a virtual vertebra model. To build a mesh model from medical images, Delaunay triangulation is applied and physical models are based on elasticity theory. Also, a redundant actuated 6 DOF parallel type haptic device is designed to display large force and to resolve the singularity problem of parallel type mechanisms. Haptic feeling of puncture task and the performance of the proposed haptic device are tested by two puncture task experiments.
Keywords
Triangular mesh; Delaunay triangulation; Puncture task; Parallel haptic device;
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