NDLI: Mechanisms for haptic feedback

Content Provider	IEEE Xplore Digital Library
Author	Hui, R. Ouellet, A. Wang, A. Kry, P. Williams, S. Vukovich, G. Peruzzini, W.
Copyright Year	1995
Description	Author affiliation: Canadian Space Agency, St-Hubert, Que., Canada (Hui, R.; Ouellet, A.; Wang, A.; Kry, P.; Williams, S.; Vukovich, G.; Peruzzini, W.)
Abstract	This article describes work in progress at the Canadian Space Agency on the design and implementation of haptic devices. Haptic devices are a special class of robotic mechanisms for which structural transparency is a foremost design criterion. Also notable is the fact that often, three or four degrees of freedom, rather than six as in general robotic tasks, are sufficient for many haptic applications. Furthermore, in order to make these devices readily available to many users, it is necessary their kinematic models be sufficiently simple such that they can be controlled by inexpensive means. Various three and four-DOF mechanisms, some of which recently developed by the Canadian Space Agency, are discussed herein in terms of their suitability for haptic applications. For five or six-DOF applications, the concept of the virtual handle is introduced, reducing the problems and complexity usually associated with mechanisms with a high number of degrees of freedom.
Starting Page	2138
Ending Page	2143
File Size	568690
Page Count	6
File Format	PDF
ISBN	0780319656
ISSN	10504729
DOI	10.1109/ROBOT.1995.525577
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-05-21
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Kinematics Orbital robotics Force control Manipulators Force feedback Friction Robotics and automation Power cables Actuators
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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