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ICRA
2009
IEEE

Cardiolock2: Parallel singularities for the design of an active heart stabilizer

9 years 4 months ago
Cardiolock2: Parallel singularities for the design of an active heart stabilizer
— In this paper, the design of a new active cardiac stabilizer, Cardiolock2, is presented. Following the proof of concept Cardiolock [7], this device allows an active stabilization of the surface of a beating heart in two directions, which is considered sufficient for a complete stabilization. Piezoelectric actuation is combined with a compliant architecture to obtain high dynamics and accuracy. A remote center of motion is obtained with a serial architecture, and parallel mechanisms in configurations close to singularity are used to get a sufficient workspace. A kinematic analysis is first presented, before detailing the main properties of the device and the current development of the prototype.
Wael Bachta, Pierre Renaud, Edouard Laroche, Jacqu
Added 23 May 2010
Updated 23 May 2010
Type Conference
Year 2009
Where ICRA
Authors Wael Bachta, Pierre Renaud, Edouard Laroche, Jacques Gangloff
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