Three 6-DOF Haptic Algorithms Compared for Use in a Milling Surgery Simulator Prototype

Three different six degrees of freedom haptic algorithms are presented in this paper. Two of them are developed by the author, and the third is a modified Barbic’ algorithm. Algorithm #1 is a constraint-based proxy-method, Algorithm #2 is a penalty-based method, and Algorithm #3 uses a virtual coupling. They are implemented and compared in a haptic milling surgery simulator. We produce new angles of perspective when having three different solutions to the same problem. All of the algorithms fulfill the real-time requirements and give realistic force- and torque feedback. The choice of algorithm is a question about stability and the requirement of the virtual environment to realistically mimic real world scenarios. The work presented here is an extension to earlier research dealing with three degrees of freedom haptic feedback for milling applications.QC 2012053