ROBOMECH Journal

Table 6 Parameters of virtual model on situations

From: Force display control system for simultaneous 3-axis translational motion in surgical training simulator for chiseling operation

	Situation	Model parameters				Generalized parameters
		\(m_{v}\) / kg	\(c_{v}\) / kg/s	\(k_{v}\) / N/m		\(\omega _{n}\) / rad/s	\(\zeta _{}\)	\(\omega _{c}\) / rad/s	\(K_{}\)
(a)	Contacting har tissue	100	1.2 \(\times 10^{4}\)	3.6 \(\times 10^{5}\)	(a)	60	1	–	\(0.01\)
(b)	Manipulating in air	2	20	0	(b)	–	–	10	\(0.5\)

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