Resumo

GENOY MUNOZ, Jimmer William; RODRIGUEZ ORTIZ, Luis Felipe  e  SALINAS, Sergio Alexander. HAPTIC INTERFACE WITH FOUR DEGREES OF FREEDOM FOR SURGICAL APPLICATIONS. Rev. ing. biomed. [online]. 2011, vol.5, n.9, pp.35-42. ISSN 1909-9762.

This paper presents the design of haptic device that is conceived for biomedical applications. Specifically, the device can be used for surgery training allowing the user to feel and handle simulated objects a tridimensional and tele-operated environment. The haptic interface is a serial robot with four degrees of freedom that allows to set the orientation and position of the end-effector into the work environment. Kinematic and dynamic models are used to study the robot movements and to build a calculated torque controller. Finally, a simulation of the haptic interface is done in a virtual environment.

Palavras-chave : Haptic interface; tridimensional simulation; robotics; robot model; calculated torque control.

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