摘要
设计了一种适用于膝关节镜手术虚拟培训的力反馈仿真设备,研究其系统架构,提出其机械结构设计以及元器件的选型方案,给出该力反馈设备工作时的数学模型,用以定位末端以及反馈力分解计算。并对执行件电机的工作状态做出分析,设计控制方案。
A force feedback device is presented to apply to the virtual training of knee arthroscopy surgery, and the system ar-chitecture of the device is expounded a method of mechanical design and the component selecting are introduced with force feedback. The working mathematical model of the device is expounded to locate its extremity and the feedback force is calcu-lated. At last the working condition of motors is analyzed and an control method is also designed.
出处
《机械研究与应用》
2013年第2期117-120,共4页
Mechanical Research & Application
基金
广东省科技计划项目(项目编号:2010A04030700)
东莞市科技计划项目(项目编号:201010810202)
广州市科技计划项目(2010J-D00341)
关键词
力反馈
膝关节镜手术
虚拟现实
force feedback
virtual reality
arthroscopy surgery
