DOI: 10.1007/978-3-642-11598-1_2
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P. Estevez, S. Khan, P. Lambert, M. Porta, I. Polat, C. Scherer, M. Tichem, U. Staufer, H. H. Langen, R. Munnig Schmidt

Abstract: Abstract.A tele-haptic system for microassembly applications is currently being developed at the Delft University of Technology, with the goal of achieving superior performance by providing enhanced feedback to the human operator. Assembly of a micro-harmonic drive is used as a benchmark to fully evaluate the proposed tele-haptic system by investigating the control strategies and the individual subsystems: master device, microgrippers and slave system. The master device will be comprised of a parallel robot w…

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