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Conference papers
A Pneumatic Haptic Probe Replica for Tele-Robotized Ultrasonography
Abstract : This paper introduces a pneumatic haptic device to remotely control a slave ultrasound probe-holder robot. This device should orientate this probe according to the sonographer’s examination needs, while rendering the force applied by it on the patient’s body, in order to provide a realistic examination environment as in situ. Previous designs with electric actuators were limited in terms of torque, dimensions and ergonomics, which actually did not match end-users’ remote ultrasonography requirements.
This paper describes the mechatronic design of an haptic pneumatic probe replica and preliminary control laws for it to perform as a Variable Stiffness Actuator (VSA). This approach is original and experimental results are provided to validate its feasibility.
Cited literature [23 references]
https://hal.archives-ouvertes.fr/hal-01862903
Contributor : Arnaud Leleve <>
Submitted on : Thursday, January 17, 2019 - 3:11:02 PM
Last modification on : Tuesday, January 5, 2021 - 12:32:03 PM
Long-term archiving on: : Thursday, April 18, 2019 - 12:59:51 PM
Contributor : Arnaud Leleve <>
Submitted on : Thursday, January 17, 2019 - 3:11:02 PM
Last modification on : Tuesday, January 5, 2021 - 12:32:03 PM
Long-term archiving on: : Thursday, April 18, 2019 - 12:59:51 PM
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