Design and Calibration of a New 6 DOF Haptic Device
Identifieur interne : 000992 ( Main/Merge ); précédent : 000991; suivant : 000993Design and Calibration of a New 6 DOF Haptic Device
Auteurs : Huanhuan Qin ; Aiguo Song ; Yuqing Liu ; Guohua Jiang ; Bohe ZhouSource :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2015.
Abstract
For many applications such as tele-operational robots and interactions with virtual environments, it is better to have performance with force feedback than without. Haptic devices are force reflecting interfaces. They can also track human hand positions simultaneously. A new 6 DOF (degree-of-freedom) haptic device was designed and calibrated in this study. It mainly contains a double parallel linkage, a rhombus linkage, a rotating mechanical structure and a grasping interface. Benefited from the unique design, it is a hybrid structure device with a large workspace and high output capability. Therefore, it is capable of multi-finger interactions. Moreover, with an adjustable base, operators can change different postures without interrupting haptic tasks. To investigate the performance regarding position tracking accuracy and static output forces, we conducted experiments on a three-dimensional electric sliding platform and a digital force gauge, respectively. Displacement errors and force errors are calculated and analyzed. To identify the capability and potential of the device, four application examples were programmed.
Url:
DOI: 10.3390/s151229857
PubMed: 26690449
PubMed Central: 4721777
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Astronaut Research and Training Center, Beijing 100094, China;<email>clara_liu@163.com</email> (Y.L.) ;<email>jgh_isme@sina.com</email> (G.J.) ;<email>zhoubohe@126.com</email> (B.Z.)</nlm:aff></affiliation></author><author><name sortKey="Jiang, Guohua" sort="Jiang, Guohua" uniqKey="Jiang G" first="Guohua" last="Jiang">Guohua Jiang</name><affiliation><nlm:aff id="af2-sensors-15-29857">National Key Laboratory of Human Factors Engineering, China Astronaut Research and Training Center, Beijing 100094, China;<email>clara_liu@163.com</email> (Y.L.) ;<email>jgh_isme@sina.com</email> (G.J.) ;<email>zhoubohe@126.com</email> (B.Z.)</nlm:aff></affiliation></author><author><name sortKey="Zhou, Bohe" sort="Zhou, Bohe" uniqKey="Zhou B" first="Bohe" last="Zhou">Bohe Zhou</name><affiliation><nlm:aff id="af2-sensors-15-29857">National Key Laboratory of Human Factors Engineering, China Astronaut Research and Training Center, Beijing 100094, China;<email>clara_liu@163.com</email> (Y.L.) 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type="wicri:Area/Main/Merge">000992</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Design and Calibration of a New 6 DOF Haptic Device</title><author><name sortKey="Qin, Huanhuan" sort="Qin, Huanhuan" uniqKey="Qin H" first="Huanhuan" last="Qin">Huanhuan Qin</name><affiliation><nlm:aff id="af1-sensors-15-29857">School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China;<email>230159227@seu.edu.cn</email></nlm:aff></affiliation></author><author><name sortKey="Song, Aiguo" sort="Song, Aiguo" uniqKey="Song A" first="Aiguo" last="Song">Aiguo Song</name><affiliation><nlm:aff id="af1-sensors-15-29857">School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China;<email>230159227@seu.edu.cn</email></nlm:aff></affiliation></author><author><name sortKey="Liu, Yuqing" sort="Liu, Yuqing" uniqKey="Liu Y" first="Yuqing" last="Liu">Yuqing Liu</name><affiliation><nlm:aff id="af2-sensors-15-29857">National Key Laboratory of Human Factors Engineering, China Astronaut Research and Training Center, Beijing 100094, China;<email>clara_liu@163.com</email> (Y.L.) ;<email>jgh_isme@sina.com</email> (G.J.) ;<email>zhoubohe@126.com</email> (B.Z.)</nlm:aff></affiliation></author><author><name sortKey="Jiang, Guohua" sort="Jiang, Guohua" uniqKey="Jiang G" first="Guohua" last="Jiang">Guohua Jiang</name><affiliation><nlm:aff id="af2-sensors-15-29857">National Key Laboratory of Human Factors Engineering, China Astronaut Research and Training Center, Beijing 100094, China;<email>clara_liu@163.com</email> (Y.L.) ;<email>jgh_isme@sina.com</email> (G.J.) ;<email>zhoubohe@126.com</email> (B.Z.)</nlm:aff></affiliation></author><author><name sortKey="Zhou, Bohe" sort="Zhou, Bohe" uniqKey="Zhou B" first="Bohe" last="Zhou">Bohe Zhou</name><affiliation><nlm:aff id="af2-sensors-15-29857">National Key Laboratory of Human Factors Engineering, China Astronaut Research and Training Center, Beijing 100094, China;<email>clara_liu@163.com</email> (Y.L.) ;<email>jgh_isme@sina.com</email> (G.J.) ;<email>zhoubohe@126.com</email> (B.Z.)</nlm:aff></affiliation></author></analytic><series><title level="j">Sensors (Basel, Switzerland)</title><idno type="eISSN">1424-8220</idno><imprint><date when="2015">2015</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>For many applications such as tele-operational robots and interactions with virtual environments, it is better to have performance with force feedback than without. Haptic devices are force reflecting interfaces. They can also track human hand positions simultaneously. A new 6 DOF (degree-of-freedom) haptic device was designed and calibrated in this study. It mainly contains a double parallel linkage, a rhombus linkage, a rotating mechanical structure and a grasping interface. Benefited from the unique design, it is a hybrid structure device with a large workspace and high output capability. Therefore, it is capable of multi-finger interactions. Moreover, with an adjustable base, operators can change different postures without interrupting haptic tasks. To investigate the performance regarding position tracking accuracy and static output forces, we conducted experiments on a three-dimensional electric sliding platform and a digital force gauge, respectively. Displacement errors and force errors are calculated and analyzed. 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