A haptic interface for a virtual exam of the human thigh
- 7 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 2452-2457
- https://doi.org/10.1109/robot.2000.846395
Abstract
This paper proposes a method for interfacing a force-feedback device of type PHANToM to a springdamper model of the human thigh. The model was defined from experimental data and it is simulated using implicit integration. The main difficulty in this is that while the PHANToM needs to receive the force values at a rate of 1KHz, the physical model runs at a maximum speed of 100Hz. Supplying forces at this frequency leads to unrealistic vibration in the force feedback. The novelty of our approach...Keywords
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