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 |
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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 | |
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 |
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Other
Other | 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003 |
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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