Performance analysis of a 2-link haptic device with electric brakes

Changhyun Cho; Munsang Kim; Jae Bok Song

doi:10.1109/HAPTIC.2003.1191227

Performance analysis of a 2-link haptic device with electric brakes

Changhyun Cho, Munsang Kim, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

19 Citations (Scopus)

Abstract

Passive haptic devices have better stability than active ones, but usually have limited capability of haptic display. In this paper a 2-link passive haptic device equipped with electric brakes is discussed. Since passive devices cannot generate forces in all directions, determination of the region available for force reflection is important to their design and operation. This analysis can be done by a so-called force manipulability ellipsoid (FME). In some haptic applications, the endpoint of a device is required to move along a certain trajectory (e.g., the surface of a virtual wall) and haptic display plays a role of path guide. Performance of path guidance is also investigated in this research. Finally, guideline for the design of more efficient passive haptic devices is briefly discussed.

Original language	English
Title of host publication	Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	47-53
Number of pages	7
ISBN (Electronic)	0769518907, 9780769518909
DOIs	https://doi.org/10.1109/HAPTIC.2003.1191227
Publication status	Published - 2003
Event	11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003 - Los Angeles, United States Duration: 2003 Mar 22 → 2003 Mar 23

Publication series

Name	Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003

Other

Other	11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003
Country/Territory	United States
City	Los Angeles
Period	03/3/22 → 03/3/23

Bibliographical note

Publisher Copyright:
© 2003 IEEE.

Keywords

Actuators
Control systems
Displays
Ellipsoids
Haptic interfaces
Humans
Performance analysis
Robots
Stability
Wheels

ASJC Scopus subject areas

Mechanical Engineering
Computer Science Applications
Hardware and Architecture
Human-Computer Interaction
Human Factors and Ergonomics

Access to Document

10.1109/HAPTIC.2003.1191227

Cite this

Cho, C., Kim, M., & Song, J. B. (2003). Performance analysis of a 2-link haptic device with electric brakes. In Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003 (pp. 47-53). Article 1191227 (Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/HAPTIC.2003.1191227

Performance analysis of a 2-link haptic device with electric brakes. / Cho, Changhyun; Kim, Munsang; Song, Jae Bok.
Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003. Institute of Electrical and Electronics Engineers Inc., 2003. p. 47-53 1191227 (Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Cho, C, Kim, M & Song, JB 2003, Performance analysis of a 2-link haptic device with electric brakes. in Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003., 1191227, Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003, Institute of Electrical and Electronics Engineers Inc., pp. 47-53, 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003, Los Angeles, United States, 03/3/22. https://doi.org/10.1109/HAPTIC.2003.1191227

Cho C, Kim M, Song JB. Performance analysis of a 2-link haptic device with electric brakes. In Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003. Institute of Electrical and Electronics Engineers Inc. 2003. p. 47-53. 1191227. (Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003). doi: 10.1109/HAPTIC.2003.1191227

Cho, Changhyun ; Kim, Munsang ; Song, Jae Bok. / Performance analysis of a 2-link haptic device with electric brakes. Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003. Institute of Electrical and Electronics Engineers Inc., 2003. pp. 47-53 (Proceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003).

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Performance analysis of a 2-link haptic device with electric brakes

Abstract

Publication series

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Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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