MECHANICAL PERFORMANCE OF A MANIPULATOR IN VIRTUAL REALITY SYSTEMS

Jose San Martin, Gracian Trivino

Abstract

Frequently, the human interface of a virtual reality system includes a 3D manipulator. In order to optimize the use of this device, the designer must take into account its mechanical characteristics. An obvious design criterion consists of maximizing the coincidence between the application 3D space and the physical volume where the manipulator provides its maximum performance. This paper explains in detail the analysis of manipulability for the PHANToM OMNi haptic device including the study of the manipulability distribution into its real workspace boundaries. As result of this study we will define a measure of the quality of the device placement inside the virtual reality system platform. We apply this measure for designing the mechanical configuration of a simulator for Minimally Invasive Arthroscopic Surgery.

References

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Paper Citation


in Harvard Style

San Martin J. and Trivino G. (2007). MECHANICAL PERFORMANCE OF A MANIPULATOR IN VIRTUAL REALITY SYSTEMS . In Proceedings of the Second International Conference on Computer Graphics Theory and Applications - Volume 2: GRAPP, ISBN 978-972-8865-72-6, pages 235-240. DOI: 10.5220/0002073302350240


in Bibtex Style

@conference{grapp07,
author={Jose San Martin and Gracian Trivino},
title={MECHANICAL PERFORMANCE OF A MANIPULATOR IN VIRTUAL REALITY SYSTEMS},
booktitle={Proceedings of the Second International Conference on Computer Graphics Theory and Applications - Volume 2: GRAPP,},
year={2007},
pages={235-240},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002073302350240},
isbn={978-972-8865-72-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Computer Graphics Theory and Applications - Volume 2: GRAPP,
TI - MECHANICAL PERFORMANCE OF A MANIPULATOR IN VIRTUAL REALITY SYSTEMS
SN - 978-972-8865-72-6
AU - San Martin J.
AU - Trivino G.
PY - 2007
SP - 235
EP - 240
DO - 10.5220/0002073302350240