Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/7872
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dc.contributor.authorAteş, Gizem-
dc.contributor.authorBrunetti, Luca-
dc.contributor.authorBonfè, Marcello-
dc.date.accessioned2020-07-18T03:35:18Z-
dc.date.available2020-07-18T03:35:18Z-
dc.date.issued2019-
dc.identifier.issn0254-1971-
dc.identifier.urihttps://doi.org/10.1007/978-3-319-78963-7_28-
dc.identifier.urihttps://hdl.handle.net/11147/7872-
dc.description.abstractThe paper describes the design and application of a low-cost haptic device with five degrees of freedom (5-DOF), all of which are fully actuated for force/torque haptic display. The device is realized using two Novint Falcons, commercially available haptic devices with only translational DOF. The paper focus on the practical issues related to the use of such a haptic device as a robotic teleoperation master and provides solutions to improve its usability during an application inspired by surgical robotics, namely the teleoperated insertion of a needle into a soft tissue. Experiments demonstrate the usefulness of force feedback and virtual fixtures on both translation and orientation degrees of freedom. © 2019, CISM International Centre for Mechanical Sciences.en_US
dc.language.isoenen_US
dc.publisherSpringeren_US
dc.relation.ispartofCISM International Centre for Mechanical Sciences, Courses and Lecturesen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectHaptic devicesen_US
dc.subjectRobotic teleoperationen_US
dc.titleImproved usability of a low-cost 5-DOF haptic device for robotic teleoperationen_US
dc.typeBook Parten_US
dc.institutionauthorAteş, Gizem-
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.volume584en_US
dc.identifier.startpage213en_US
dc.identifier.endpage221en_US
dc.identifier.scopus2-s2.0-85051488940en_US
dc.relation.publicationcategoryKitap Bölümü - Uluslararasıen_US
dc.identifier.doi10.1007/978-3-319-78963-7_28-
dc.relation.doi10.1007/978-3-319-78963-7_28en_US
dc.coverage.doi10.1007/978-3-319-78963-7_28en_US
dc.identifier.scopusqualityQ4-
item.grantfulltextopen-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.cerifentitytypePublications-
item.openairetypeBook Part-
item.languageiso639-1en-
item.fulltextWith Fulltext-
crisitem.author.dept03.04. Department of Computer Engineering-
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
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