Measurement of Suitability of a Haptic Device in a Virtual Reality System

Abstract

In the context of the optimization of the mechanical platform of a virtual reality system involving a haptic device, this paper introduces two tools in order to help the designer for obtaining the best positioning of the device respect to the application workspace. With this purpose we have defined a measure called Average Volumetric Manipulability, of how the application workspace fits in with the volume where haptic device provides its best performance. Also, we have defined other measure called Useful Manipulability which takes in account the frequency with which each zone of the application workspace is visited during the simulation process. The practical use of these measures is demonstrated using them during the design and development of a real application.

Workspace and dexterity analysis of the hybrid mechanism master robot in Sinaflex robotic telesurgery system: An in vivo experiment

“…The performance of the Sina flex master manipulator in the case of work space and dexterity is investigated in compared with some proposed master manipulator/haptic interfaces by the other researchers 8–10,12–17,19,29,30 in Table 2. The workspace volume of the commercial devices including PHANTOM Omni, 8,29 PHANTOM Premium, 9 PHANTOM Desktop, 10,30 Sigma.7 15 and Omega.7 17 is as 134.4 × 10 4 , 194.2986 × 10 5 , 230.4 × 10 4 , 368.59 × 10 4 , 221.17 × 10 4 mm 3 , respectively. The analysis of the corresponding dexterity is available only for PHANTOM Omni and PHANTOM Desktop as maximum of I M = 0.8, minimum of I M = 0.011 and $$\widetilde{GCI}=0.419$$ respectively.…”

“…The performance of the Sina flex master manipulator in the case of work space and dexterity is investigated in compared with some proposed master manipulator/haptic interfaces by the other researchers [8][9][10][12][13][14][15][16][17]19,29,30 For the haptic interfaces presented in 12,14,16 and, 19 the volume of the workspace is respectively as 351.91 � 10 6 mm 3 , 195.35 � 10 6 mm 3 , 540 � 10 5 mm 3 , and 225 � 10 4 mm 3 . The dexterity for these manipulators is analysed as I c < 0.2, 12 I c < 0.5 14 and FI = 1.73, 19 where, FI is the global kinematic performance fluctuant index.…”