Dionyssios Mitropoulos

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A new haptic feedback mechanism with five active degrees of freedom (dof), part of a training simulator for urological operations, is presented. The mechanism consists of a 2-dof 5-bar linkage, and a 3-dof spherical joint. To reproduce very small forces and moments, the mechanism has low friction, inertia and mass, is statically balanced, and has a simple(More)
— This paper presents a design methodology, which aims at the minimization of the mass, inertia and joint friction for a low – force five – dof haptic device. The haptic device is optimized along a typical path with proper tolerances, rather than at some workspace operating point. The device, part of a training medical simulator for urological operations,(More)
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