NDLI: A novel passive haptic device for simulating a broad range of impedances

Content Provider	IEEE Xplore Digital Library
Author	Lightcap, C.A. Kang, H.
Copyright Year	2011
Description	Author affiliation: MAKO Surgical Corp. Ft. Lauderdale, FL 33317 USA (Kang, H.) \|\| MAKO Surgical Corp, Ft. Lauderdale, FL 33317 USA (Lightcap, C.A.)
Abstract	The strength of a haptic display may be assessed from its range of stable impedances. This paper presents a novel passive haptic display (PARM) capable of simulating a broad range of impedances. It comprises a passive constraint that can simulate both uninhibited motion through free-space and collision into a rigid obstacle. In free-space, the user feels the natural impedance of the end-effector without the added inertia and friction from a transmission or actuator. In a collision with a rigid object, haptic stiffness can be much greater than a traditional impedance haptic display. An experimental study with a 2 DoF planar manipulator illustrates the minimum and maximum impedances that are attainable for this haptic display. The inertial mass and friction in free-space are less than 0.2 kg and 12.3 Ns/m, and the stiffness against a haptic boundary is 465 N/mm. In addition, collision with a haptic object produces a more authentic experience, since there are naturally-occurring high frequency oscillations that result from the physical collision between two objects. This novel haptic display has both the minimum impedance benefits of impedance haptic displays and the maximum impedance benefits of admittance haptic displays.
Starting Page	925
Ending Page	930
File Size	346156
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980379
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Impedance Admittance Friction Kinematics Lead Damping
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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