Dionyssios Mitropoulos

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This work 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)
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 3dof 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)
Virtual reality is becoming very important for training medical surgeons in various operations. Interfacing users with a virtual training environment, requires the existence of a properly designed haptic device. This paper presents the design of a new force feedback haptic mechanism with five active degrees of freedom (dof), which is used as part of a(More)
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