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Design and optimization of parallel haptic devices: Design methodology and experimental evaluation
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics. (Mechatronics)
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.
Series
Trita-MMK, ISSN 1400-1179 ; 2012:04
Keyword [en]
Medical simulation, 6-DOF haptic devices, design methodology.
National Category
Medical Equipment Engineering
Research subject
SRA - ICT
Identifiers
URN: urn:nbn:se:kth:diva-90746ISBN: 978-91-7501-275-9 (print)OAI: oai:DiVA.org:kth-90746DiVA: diva2:506304
Public defence
2012-03-23, B242, BBrinellvägen 85, KTH, Stockholm, 10:00 (English)
Opponent
Supervisors
Note
QC 20120302Available from: 2012-03-02 Created: 2012-02-28 Last updated: 2012-03-02Bibliographically approved
List of papers
1. A Design Approach for a New 6-DoF Haptic Device Based on Parallel Kinematics
Open this publication in new window or tab >>A Design Approach for a New 6-DoF Haptic Device Based on Parallel Kinematics
2009 (English)In: 2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS, NEW YORK: IEEE , 2009, 195-200 p.Conference paper, Published 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
Keyword
Design methodology, Haptic devices, Design requirements, Parallel kinematic structure, Modeling and simulation
National Category
Engineering and Technology
Identifiers
urn:nbn:se:kth:diva-30357 (URN)10.1109/ICMECH.2009.4957200 (DOI)000273269400034 ()2-s2.0-67650314402 (Scopus ID)
Conference
IEEE International Conference on Mechatronics (ICM 2009), Malaga, SPAIN, APR 14-17, 2009
Note
QC 20110303Available from: 2011-03-03 Created: 2011-02-24 Last updated: 2012-03-02Bibliographically approved
2. Design Optimization and Performance Evaluation of a 6-DOF Haptic Device
Open this publication in new window or tab >>Design Optimization and Performance Evaluation of a 6-DOF Haptic Device
(English)In: Journal of mechanical design (1990), ISSN 1050-0472, E-ISSN 1528-9001Article in journal (Other academic) Submitted
National Category
Mechanical Engineering
Identifiers
urn:nbn:se:kth:diva-90879 (URN)
Note
QS 2012 QS 20120327Available from: 2012-03-02 Created: 2012-03-02 Last updated: 2017-12-07Bibliographically approved
3. Multi-objective Optimal Design of a 6-DOF Haptic Device Based on Jacobian Normalization
Open this publication in new window or tab >>Multi-objective Optimal Design of a 6-DOF Haptic Device Based on Jacobian Normalization
(English)In: IEEE transactions on robotics and automation, ISSN 1042-296XArticle in journal (Other academic) Submitted
National Category
Production Engineering, Human Work Science and Ergonomics
Identifiers
urn:nbn:se:kth:diva-90880 (URN)
Note
QS 2012 QS 20120327Available from: 2012-03-02 Created: 2012-03-02 Last updated: 2017-12-07Bibliographically approved
4. Dynamic based control strategy for haptic devices
Open this publication in new window or tab >>Dynamic based control strategy for haptic devices
2011 (English)In: World Haptics Conference (WHC), 2011 IEEE Issue Date: 21-24 June 2011 / [ed] IEEE, 2011, 131-136 p.Conference paper, Published paper (Refereed) [Artistic work]
Abstract [en]

Transparency is a key performance measure for haptic devices. In this paper, we investigate a control strategy to increase the transparency of a haptic device. This control strategy is based on careful analysis of the dynamics of the haptic device, computed torque feed forward control and current feedback based force control. The inverse dynamic equation of motion for the device is derived using Lagrangian formalism and the dominating terms are identified for some representative motion trajectories. The user contact dynamic model is identified using experiments on the device with different users. A PI controller using motor current measurements is used to follow the reference force from the virtual environment. Experimental results illustrate the effectiveness of the control strategy.

Keyword
Actuators, Dynamics, Equations, Haptic interfaces, Joints, Mathematical model, Torque
National Category
Other Mechanical Engineering
Research subject
SRA - ICT
Identifiers
urn:nbn:se:kth:diva-78490 (URN)10.1109/WHC.2011.5945474 (DOI)2-s2.0-79961202957 (Scopus ID)978-1-4577-0299-0 (ISBN)
Conference
World Haptics Conference (WHC), 2011, 21-24 June 2011, Istanbul, Turkey
Note
© 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20120214Available from: 2012-02-14 Created: 2012-02-08 Last updated: 2012-03-02Bibliographically approved
5. A design Methodology for haptic devices
Open this publication in new window or tab >>A design Methodology for haptic devices
2011 (English)In: Proceedings of the 18th International Conference on Engineering Design (ICED11), Vol. 4 / [ed] Culley, S.J.; Hicks, B.J.; McAloone, T.C.; Howard, T.J. & Lindemann, U., 2011, 288-298 p.Conference paper, Published paper (Refereed) [Artistic work]
Abstract [en]

This paper presents a design methodology for optimal design of haptic devices, considering aspects form all involved engineering domains. The design methodology is based on parametric modeling, iterative and integrated design approach that leads to easier design space exploration for global optimal design and initial verification in the conceptual design phase. For global optimization, performance indices such as; workspace volume, isotropy, stiffness, inertia and control of the device were from all involved engineering domains were considered. To handle this complex and non-linear optimization problem, a multi-objective algorithm together with a new developed optimization function was used, to obtain a global optimum solution. A case study, where the methodology has been applied to develop a parallel haptic device is presented in detail in this paper. The results obtain from the test case model show significant improvements in the performances of the device.

Keyword
PARALLEL MECHANISM; OPTIMISATION AND PERFORMANCES; HAPTIC DEVICES; DESIGN METHODOLOGY
National Category
Other Mechanical Engineering
Research subject
SRA - ICT
Identifiers
urn:nbn:se:kth:diva-78480 (URN)000320285700029 ()2-s2.0-84858830794 (Scopus ID)978-1-904670-24-7 (ISBN)
Conference
INTERNATIONAL CONFERENCE ON ENGINEERING DESIGN, ICED11 15 - 18 AUGUST 2011, TECHNICAL UNIVERSITY OF DENMARK
Note

QC 20120214

Available from: 2012-02-14 Created: 2012-02-08 Last updated: 2014-01-09Bibliographically approved
6. Face Validity Tests of a Haptic Bone Milling Surgery Simulator Prototype
Open this publication in new window or tab >>Face Validity Tests of a Haptic Bone Milling Surgery Simulator Prototype
2012 (English)In: Journal of Medical Devices, ISSN 1932-619XArticle in journal (Other academic) Submitted
Place, publisher, year, edition, pages
American Society of Mechanical Engineers, 2012
National Category
Interaction Technologies
Identifiers
urn:nbn:se:kth:diva-90546 (URN)
Note

QS 2012 QS 20120326

Available from: 2012-02-26 Created: 2012-02-26 Last updated: 2016-12-06Bibliographically approved

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