Toward a seven axis haptic device

Hayward, Vincent

doi:10.1109/iros.1995.525874

Cited by 39 publications

(21 citation statements)

References 28 publications

(8 reference statements)

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“…This has been reported in [8] [9] where it was mentioned that it was consistent with physiological observations. In these papers, peak acceleration was used as design guideline not only to increase its the average value but also to minimise the difference between its extrema over a target workspace.…”

Section: Peak Accelerationsupporting

confidence: 89%

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Performance Measures for Haptic Interfaces

1996

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A haptic interface is distinct from other display devices because it is bi-directional; it is capable of both reading and writing input to and from a human user. Due to both the direct human interaction and bi-directionality there has been much ambiguity in describing and evaluating these devices, making evaluation and comparison difficult. The goal of this paper is to set out requirements and guidelines for the performance measures of haptic devices and to hopefully lead towards resolving the current equivocal situation. In particular, performance measures are introduced which have so far not been pertinent in traditional robotics; these include, peak force, peak acceleration and frequency dependent measurements. Performance measures often quoted in traditional robotics are also discussed, however, the focus and relevance of these measures are different in haptic devices. Each of the suggested performance measures in this paper is discussed with respect to its importance, its measurabilty and the condition under which it should be measured.

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Section: Peak Accelerationsupporting

confidence: 89%

“…In this category we find many many devices developed for teleoperation such as JPL's FRHC [19] and CEA's MA23 [25]. More recently, a six (extendible to seven) DOF device is being developed at McGill for specific application to virtual environments [8]. A six DOF device has also been developed by Iwata [14].…”

Section: High Dof Devicesmentioning

confidence: 99%

Performance Measures for Haptic Interfaces

1996

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“…[Hybrid Manipulator] -Compact 6-DOF Haptic Interface (Tsumaki et al, 1998;Yoon, 2003) 6-DOF (Hayward, 1995;Hayward et al, 1997) …”

Section: -Dofmentioning

confidence: 99%

Mechanism Design of Haptic Devices

Kim¹

2010

Advances in Haptics

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“…Due to the variety of applications, haptic interface designs span a wide range, from interfaces with non-dextrous, power grips to many recent haptic interface designs with more sensitive and dextrous finger grips [3,4,7,9,17]. The primary technical difficulty in all these designs is providing accurate, high frequency force information to the user, in multiple degrees of freedom, and with large range of motion.…”

Section: Introductionmentioning

confidence: 99%

“…The primary technical difficulty in all these designs is providing accurate, high frequency force information to the user, in multiple degrees of freedom, and with large range of motion. This poses unique challenges in mechanism and control design [1,3,4,5,7,9,12,16,17,21]. To achieve hard "crisp" surfaces needed in many haptic interface applications [5,11], smooth velocity measurements with small computational delay are required [13].…”

Section: Introductionmentioning

confidence: 99%