A methodology for situated and effective design of haptic devices

The realism of virtual surgery through a surgical simulator depends largely on the precision and reliability of the haptic device. The quality of perception depends on the design of the haptic device, which presents a complex design task due to the multi-criteria and conflicting character of the functional and performance requirements. In the model-based evaluation of the performance criteria of a haptic device, the required computational resources increase with the complexity of the device structure as well as with the increased level of detail that is created in the detail design phases. Due to uncertain requirements and a significant knowledge gap, the design task is fuzzy and more complex in the early design phases. The goal of this thesis is to propose a situated, i.e., flexible, scalable and efficient, methodology for multi-objective and multi-disciplinary design optimization of high-performing 6-DOF haptic devices. The main contributions of this thesis are: 1. A model-based and simulation-driven engineering design methodology and a flexible pilot framework are proposed for design optimization of high-performing haptic devices. The multi-disciplinary design optimization method was utilized to balance the conflicting criteria/requirements of a multi-domain design case and to solve the design optimization problems concurrently. 2. A multi-tool framework is proposed. The framework integrates metamodel-based design optimization with complementary engineering tools from different software vendors, which was shown to significantly reduce the total computationally effort. 3. The metamodeling methods and sampling sizes for specific performance indices found from case studies were shown to be applicable and usable for several kinds of 6-degrees-offreedom haptic devices. 4. The multi-tool framework and the assisting methodology were further developed to enable computationally efficient and situated design multi-objective optimization of highperforming haptic devices. The design-of-experiment (DOE) and metamodeling techniques are integrated with the optimization process in the framework as an option to solve the design optimization case with a process that depends on the present system complexity.