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A Design Approach for a New 6-DoF Haptic Device Based on Parallel Kinematics
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.ORCID iD: 0000-0001-6692-2794
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.ORCID iD: 0000-0002-7550-3134
2009 (English)In: 2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, NEW YORK: IEEE , 2009, 195-200 p.Conference paper (Refereed)
Abstract [en]

This paper presents an approach to a methodology for design, analysis and optimization of haptic devices. This approach roughly divides the design process into; device requirements, conceptual design, device design, control design and finally building a prototype of the device. In addition, we have applied the first two phases of this methodology, i.e. device requirements and conceptual design on the development of a new 6-DoF haptic device. The intended application area for this device is medical simulations and this research is one important component towards achieving manipulation capabilities and force/torque feedback in six degrees of freedom during medical simulations. Three candidate concepts, all based on parallel kinematic structures, have been investigated and analyzed. The performance parameters being analyzed have covered workspace analysis and force/torque requirements to fulfill the specified TCP force performance. The initial analysis of these three concepts has shown, after a smaller modification of one of the concepts that all concepts seem to satisfy, the initially stated requirements.

Place, publisher, year, edition, pages
NEW YORK: IEEE , 2009. 195-200 p.
Keyword [en]
Design methodology, Haptic devices, Design requirements, Parallel kinematic structure, Modeling and simulation
National Category
Engineering and Technology
URN: urn:nbn:se:kth:diva-30357DOI: 10.1109/ICMECH.2009.4957200ISI: 000273269400034ScopusID: 2-s2.0-67650314402OAI: diva2:401531
IEEE International Conference on Mechatronics (ICM 2009), Malaga, SPAIN, APR 14-17, 2009
QC 20110303Available from: 2011-03-03 Created: 2011-02-24 Last updated: 2012-03-02Bibliographically approved
In thesis
1. Design and optimization of parallel haptic devices: Design methodology and experimental evaluation
Open this publication in new window or tab >>Design and optimization of parallel haptic devices: Design methodology and experimental evaluation
2012 (English)Doctoral thesis, comprehensive summary (Other academic) [Artistic work]
Abstract [en]

The simulation of surgical procedures, in the case of hard tissues such as bone or teeth milling, using a haptic milling surgery simulator requires a haptic device which can provide high stiffness and transparency. To mimic a real milling process of hard tissue, such as for example creating a narrow channel or cavity, the simulator needs to provide force/torque feedback in 5–6 degrees of freedom (DOF). As described in this thesis, research has been performed to develop and optimize a haptic device that can provide high stiffness and force/torque capabilities to facilitate haptic interaction with stiff tissues. 

The main contributions of this thesis are:

(i) The use of a model-based design methodology for the design of haptic devices.  The proposed methodology is applied to a case study, i.e. the design and optimization of a haptic device based on parallel kinematics. Device requirements were elicited through dialogues with a prospective user from a neurosurgery clinic. In the conceptual design phase, different parallel concepts have been investigated and analyzed based on functional qualities such number of degrees of freedom, workspace size and force/torque capabilities. This analysis led to the selection of a specific 6 DOF kinematic structure for which dimension synthesis was performed including multi-objective optimization followed by control synthesis. Finally, a device prototype was realized and its performance verified.

(ii) Optimization of the device for best kinematic and dynamic performance. For optimization, performance indices such as workspace-to-footprint ratio, kinematic isotropy and inertial indices were used. To cope with the problem of non-uniform units in the components of the Jacobian matrix, various normalization techniques were investigated. A new multi-objective optimization function is introduced to define the optimization problem, which is then resolved using multi-objective genetic algorithms. A sensitivity analysis of the performance indices against each design parameter is performed, as a basis for selecting a final set of design parameter values.

(iii) A control strategy is investigated to achieve high transparency and stability of the device. The control strategy is based on careful analysis of the dynamics of the haptic device, computed torque feed-forward control and force control based on current feedback.

(iv) Finally, experiments both separately in the lab and by using the device in a haptic milling surgery simulator were performed. Results from a face validity study performed in collaboration with orthopedists verify that the new haptic device enables high-performance force and torque feedback for stiff interactions.  

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2012. xiv, 56 p.
Trita-MMK, ISSN 1400-1179 ; 2012:04
Medical simulation, 6-DOF haptic devices, design methodology.
National Category
Medical Equipment Engineering
Research subject
urn:nbn:se:kth:diva-90746 (URN)978-91-7501-275-9 (ISBN)
Public defence
2012-03-23, B242, BBrinellvägen 85, KTH, Stockholm, 10:00 (English)
QC 20120302Available from: 2012-03-02 Created: 2012-02-28 Last updated: 2012-03-02Bibliographically approved

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