Abstract
We have developed a control interface with force sensation for technical simulation of fine adjustment. The system was constructed by link mechanism in combination with wire drive because conventional haptic interfaces are difficult to reproduce pivot operation on soft tissue. The upper point of the handle is controlled by the wire drive, and the lower, by the link mechanism. In this paper we propose a function of variable pivot point to enhance precise pivot operation. Establishing the virtual pivot point, the lower point of the handle is restrained on the line between the upper point and the virtual pivot point. We have confirmed the mobility range and the presented force fulfill the requirement of medical simulation including echography.
