NDLI: Performance Assessment of a 3D Cable-Driven Haptic Device

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Rosati, Giulio Zanotto, Damiano Rossi, Aldo
Copyright Year	2008
Abstract	Haptic displays are special devices, able to provide the sense of force or moment feedback to the human operator by rendering a variable mechanical impedance. They are widely used in Virtual Reality, teleoperation and virtual-drive systems. In this paper, the problem of measuring the force-exertion capability of a spatial cable-driven haptic display is addressed. A new set of manipulability indexes that applies to all completely restrained cable-based spatial systems is developed, by generalizing a set of indexes previously introduced for planar devices. These indexes can be used to analyze the working space of cable-based devices and/or to optimize their parameters (e.g., the locations of cable attachment points). In the paper, the set of manipulability indexes is applied to the analysis of a desktop cable-driven haptic display, called the PiRoGa5. PiRoGa5 is a 5 degree-of-freedom haptic pen, driven by 6 cables that are arranged to form two opposite pyramids, whose bases lay in two parallel planes and whose vertexes coincide with the ends of the pen-like end-effector. Wires are wound onto pulleys, pass through fixed eye-bolts, and are alternatively fixed to the upper and lower ends of the end-effector. The kinematics of the system is derived first, and position accuracy is inspected. Secondly, the new manipulability indexes are employed to determine and optimize the working space of the haptic device. Finally, a method is presented to analytically compute the wire tensions for a given wrench.
Starting Page	597
Ending Page	606
Page Count	10
File Format	PDF
ISBN	9780791848739
DOI	10.1115/IMECE2008-67261
e-ISBN	9780791838402
Volume Number	Volume 12: Mechanics of Solids, Structures and Fluids
Conference Proceedings	ASME 2008 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2008-10-31
Publisher Place	Boston, Massachusetts, USA
Access Restriction	Subscribed
Subject Keyword	Degrees of freedom Pulleys Feedback Rendering Mechanical impedance Kinematics Virtual reality End effectors Haptics Wire Cables
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in