Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/11441
Title: Experimental structural stiffness analysis of a surgical haptic master device manipulator
Authors: Görgülü, İbrahimcan
Dede, Mehmet İsmet Can
Carbone, Giuseppe
Keywords: Structural stiffness
Issue Date: 2021
Publisher: American Society of Mechanical Engineers
Abstract: This paper deals with haptic devices for master-slave telesurgical applications. Namely, a stiffness model fitting methodology and its fine-tuning are proposed based on experimental results. In particular, the proposed procedure is based on virtual joint structural stiffness modeling to be applied in time-efficient compliance compensation strategies. A specific case study is discussed by referring to the HISS haptic device that has been developed and built at Izmir Institute of Technology. Two different experimental setups are designed for stiffness evaluation tests. Experimental results are discussed to demonstrate their implementation in the proposed methodology for the fine-tuning of stiffness model.
URI: https://doi.org/10.1115/1.4049515
https://hdl.handle.net/11147/11441
ISSN: 1932-6181
1932-619X
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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