Sökning: "6 DOF"

Visar resultat 1 - 5 av 14 avhandlingar innehållade orden 6 DOF.

  1. 1. Design and optimization of parallel haptic devices : Design methodology and experimental evaluation

    Författare :Suleman Khan; Kjell Andersson; Jan Wikander; Ölvander Johan; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Medical simulation; 6-DOF haptic devices; design methodology.; SRA - ICT; SRA - Informations- och kommunikationsteknik;

    Sammanfattning : The simulation of surgical procedures, in the case of hard tissues such as bone or teeth milling, using a haptic milling surgery simulator requires a haptic device which can provide high stiffness and transparency. To mimic a real milling process of hard tissue, such as for example creating a narrow channel or cavity, the simulator needs to provide force/torque feedback in 5–6 degrees of freedom (DOF). LÄS MER

  3. 2. Haptic Milling Simulation in Six Degrees-of-Freedom : With Application to Surgery in Stiff Tissue

    Författare :Magnus G. Eriksson; Jan Wikander; Dwight Meglan; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Surgical simulation; Virtual reality; Haptic feedback; Surgical training; Medical simulators; 3D visualization; Six degrees-of-freedom; Bone milling;

    Sammanfattning : The research presented in this thesis describes a substantial part of the design of a prototypical surgical training simulator. The results are intended to be applied in future simulators used to educate and train surgeons for bone milling operations. LÄS MER

  4. 3. Design and Control Parameter Optimization of Soft Ankle Exoskeleton for People with Dropfoot and Excessive Inversion

    Författare :Xiaochen Zhang; Elena Gutierrez-Farewik; Ruoli Wang; Susanne Palmcrantz; Shaoping Bai; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Assistive device; Biomechanics; Gait impairment; Movement augmentation; Assistiv enhet; Biomekanik; Gångnedsättning; Rörelseförstärkning; Teknisk mekanik; Engineering Mechanics;

    Sammanfattning : Wearable robotics and exoskeletons have been explored for their efficacy in physical rehabilitation and for assistance in daily activities for people with motor disorders. The overall objective of this thesis is to design a powered soft exoskeleton for people with dropfoot and excessive inversion, commonly after a stroke, and to optimize the control parameters for each individual while considering different dimensions. LÄS MER

  5. 4. Towards a Concurrent Multidisciplinary Design Optimization of Mechatronic Systems

    Författare :Fariba Rahimi; Martin Grimheden; Johan Ölvander; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Machine Design; Maskinkonstruktion;

    Sammanfattning : Multidisciplinary design optimization of mechatronic systems is a cumbersome task that considers integration of several engineering domains simultaneously. Hence, a holistic method should treat these engineering domains concurrently in the development phase and result in a solution for the system that is optimum considering several disciplines. LÄS MER

  7. 5. Improving a six-wheeler’sperformance both on- and off-road

    Författare :Olof Noréus; Annika Stensson Trigell; Johan Widberg; KTH; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Vehicle engineering; Farkostteknik;

    Sammanfattning : In vehicles with electric transmission and independent wheel stations, there is apossibility to control propulsion, steering and suspension individually for eachwheel. This makes it possible to improve mobility in terrain as well as performanceand driving safety on road. LÄS MER