Characterization of a medical interface

The medical interface studied in this paper is an haptic interface. These interfaces are robotic devices intended to enhance the user´s immersion in virtual environments through the stimulation, of the haptic sense. Usually, they consist of an articulated mechanical structure which introduces distortion between the operator and the explored world. In order to assess the quality of the devices, it must be identified. This paper deals with this issue and introduces the characterization of the medical interface. Each 3 degrees of freedom (DOFs) branch uses a parallelogram and double parallelogram loop. The characterization is based on the inverse model and least squares method.