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Serveur d'exploration sur les dispositifs haptiques

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Design of a passively balanced spatial linkage haptic interface

Identifieur interne : 000E95 ( PascalFrancis/Corpus ); précédent : 000E94; suivant : 000E96

Design of a passively balanced spatial linkage haptic interface

Auteurs : R. Steger ; K. Lin ; B. D. Adelstein ; H. Kazerooni

Source :

RBID : Pascal:05-0168508

Descripteurs français

English descriptors

Abstract

This paper describes the design and implementation of a compact high fidelity desktop haptic interface that provides three-degree-of-freedom point-force interaction through a handheld pen-like stylus. The complete haptic device combines a spatial linkage, actuation, power amplification, and control electronics in a standalone package with a footprint similar to that of a notebook computer (33 cm X25 cm ×10 cm). The spatial linkage is composed of one planar and two spherical subloops. Two versions of the spatial linkage were designed: a lightweight polycarbonate plastic version suitable for inexpensive mass production, and an aluminum and stainless steel linkage that offers greater reliability and higher stiffness. Both linkages were designed to be statically balanced over their full workspace.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

pA  
A01 01  1    @0 1050-0472
A03   1    @0 J. mech. des. : (1990)
A05       @2 126
A06       @2 6
A08 01  1  ENG  @1 Design of a passively balanced spatial linkage haptic interface
A11 01  1    @1 STEGER (R.)
A11 02  1    @1 LIN (K.)
A11 03  1    @1 ADELSTEIN (B. D.)
A11 04  1    @1 KAZEROONI (H.)
A14 01      @1 Mechanical Engineering Department, University of California @2 Berkeley, CA 94720 @3 USA @Z 1 aut. @Z 2 aut. @Z 4 aut.
A14 02      @1 Human Factors Research & Technology Division, NASA Ames Research Center @2 Moffett Field, CA 94035 @3 USA @Z 3 aut.
A20       @1 984-991
A21       @1 2004
A23 01      @0 ENG
A43 01      @1 INIST @2 6120L2 @5 354000126872820060
A44       @0 0000 @1 © 2005 INIST-CNRS. All rights reserved.
A45       @0 23 ref.
A47 01  1    @0 05-0168508
A60       @1 P
A61       @0 A
A64 01  1    @0 Journal of mechanical design : (1990)
A66 01      @0 USA
C01 01    ENG  @0 This paper describes the design and implementation of a compact high fidelity desktop haptic interface that provides three-degree-of-freedom point-force interaction through a handheld pen-like stylus. The complete haptic device combines a spatial linkage, actuation, power amplification, and control electronics in a standalone package with a footprint similar to that of a notebook computer (33 cm X25 cm ×10 cm). The spatial linkage is composed of one planar and two spherical subloops. Two versions of the spatial linkage were designed: a lightweight polycarbonate plastic version suitable for inexpensive mass production, and an aluminum and stainless steel linkage that offers greater reliability and higher stiffness. Both linkages were designed to be statically balanced over their full workspace.
C02 01  X    @0 001D12E06
C03 01  X  FRE  @0 Equilibrage @5 06
C03 01  X  ENG  @0 Balancing @5 06
C03 01  X  SPA  @0 Equilibrado @5 06
C03 02  X  FRE  @0 Mécanisme spatial @5 07
C03 02  X  ENG  @0 Spatial mechanism @5 07
C03 02  X  SPA  @0 Mecanismo espacial @5 07
C03 03  X  FRE  @0 Mécanisme articulé @5 08
C03 03  X  ENG  @0 Linkage mechanism @5 08
C03 03  X  SPA  @0 Mecanismo articulado @5 08
C03 04  X  FRE  @0 Interface utilisateur @5 09
C03 04  X  ENG  @0 User interface @5 09
C03 04  X  SPA  @0 Interfase usuario @5 09
C03 05  X  FRE  @0 Sensibilité tactile @5 10
C03 05  X  ENG  @0 Tactile sensitivity @5 10
C03 05  X  SPA  @0 Sensibilidad tactil @5 10
C03 06  X  FRE  @0 Electronique puissance @5 11
C03 06  X  ENG  @0 Power electronics @5 11
C03 06  X  SPA  @0 Electrónica potencia @5 11
C03 07  X  FRE  @0 Synthèse mécanisme @5 12
C03 07  X  ENG  @0 Mechanism synthesis @5 12
C03 07  X  SPA  @0 Síntesis mecanismo @5 12
C03 08  X  FRE  @0 Poids @5 13
C03 08  X  ENG  @0 Weight @5 13
C03 08  X  SPA  @0 Peso @5 13
C03 09  X  FRE  @0 Production masse @5 14
C03 09  X  ENG  @0 Mass production @5 14
C03 09  X  SPA  @0 Producción en masa @5 14
C03 10  X  FRE  @0 Fiabilité @5 15
C03 10  X  ENG  @0 Reliability @5 15
C03 10  X  SPA  @0 Fiabilidad @5 15
C03 11  X  FRE  @0 Domaine travail @5 16
C03 11  X  ENG  @0 Workspace @5 16
C03 11  X  SPA  @0 Dominio trabajo @5 16
C03 12  X  FRE  @0 Système passif @5 20
C03 12  X  ENG  @0 Passive system @5 20
C03 12  X  SPA  @0 Sistema pasivo @5 20
C03 13  X  FRE  @0 Système 3 degrés liberté @5 21
C03 13  X  ENG  @0 System with three degrees of freedom @5 21
C03 13  X  SPA  @0 Sistema 3 grados libertad @5 21
C03 14  X  FRE  @0 Carbonate polymère @2 NK @5 22
C03 14  X  ENG  @0 Polycarbonate @2 NK @5 22
C03 14  X  SPA  @0 Carbonato polímero @2 NK @5 22
C03 15  X  FRE  @0 Aluminium @2 NC @2 FR @2 FX @5 23
C03 15  X  ENG  @0 Aluminium @2 NC @2 FR @2 FX @5 23
C03 15  X  SPA  @0 Aluminio @2 NC @2 FR @2 FX @5 23
C03 16  X  FRE  @0 Acier inoxydable @5 24
C03 16  X  ENG  @0 Stainless steel @5 24
C03 16  X  SPA  @0 Acero inoxidable @5 24
N21       @1 115
N44 01      @1 OTO
N82       @1 OTO

Format Inist (serveur)

NO : PASCAL 05-0168508 INIST
ET : Design of a passively balanced spatial linkage haptic interface
AU : STEGER (R.); LIN (K.); ADELSTEIN (B. D.); KAZEROONI (H.)
AF : Mechanical Engineering Department, University of California/Berkeley, CA 94720/Etats-Unis (1 aut., 2 aut., 4 aut.); Human Factors Research & Technology Division, NASA Ames Research Center/Moffett Field, CA 94035/Etats-Unis (3 aut.)
DT : Publication en série; Niveau analytique
SO : Journal of mechanical design : (1990); ISSN 1050-0472; Etats-Unis; Da. 2004; Vol. 126; No. 6; Pp. 984-991; Bibl. 23 ref.
LA : Anglais
EA : This paper describes the design and implementation of a compact high fidelity desktop haptic interface that provides three-degree-of-freedom point-force interaction through a handheld pen-like stylus. The complete haptic device combines a spatial linkage, actuation, power amplification, and control electronics in a standalone package with a footprint similar to that of a notebook computer (33 cm X25 cm ×10 cm). The spatial linkage is composed of one planar and two spherical subloops. Two versions of the spatial linkage were designed: a lightweight polycarbonate plastic version suitable for inexpensive mass production, and an aluminum and stainless steel linkage that offers greater reliability and higher stiffness. Both linkages were designed to be statically balanced over their full workspace.
CC : 001D12E06
FD : Equilibrage; Mécanisme spatial; Mécanisme articulé; Interface utilisateur; Sensibilité tactile; Electronique puissance; Synthèse mécanisme; Poids; Production masse; Fiabilité; Domaine travail; Système passif; Système 3 degrés liberté; Carbonate polymère; Aluminium; Acier inoxydable
ED : Balancing; Spatial mechanism; Linkage mechanism; User interface; Tactile sensitivity; Power electronics; Mechanism synthesis; Weight; Mass production; Reliability; Workspace; Passive system; System with three degrees of freedom; Polycarbonate; Aluminium; Stainless steel
SD : Equilibrado; Mecanismo espacial; Mecanismo articulado; Interfase usuario; Sensibilidad tactil; Electrónica potencia; Síntesis mecanismo; Peso; Producción en masa; Fiabilidad; Dominio trabajo; Sistema pasivo; Sistema 3 grados libertad; Carbonato polímero; Aluminio; Acero inoxidable
LO : INIST-6120L2.354000126872820060
ID : 05-0168508

Links to Exploration step

Pascal:05-0168508

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</fC03>
<fC03 i1="11" i2="X" l="SPA">
<s0>Dominio trabajo</s0>
<s5>16</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE">
<s0>Système passif</s0>
<s5>20</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG">
<s0>Passive system</s0>
<s5>20</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA">
<s0>Sistema pasivo</s0>
<s5>20</s5>
</fC03>
<fC03 i1="13" i2="X" l="FRE">
<s0>Système 3 degrés liberté</s0>
<s5>21</s5>
</fC03>
<fC03 i1="13" i2="X" l="ENG">
<s0>System with three degrees of freedom</s0>
<s5>21</s5>
</fC03>
<fC03 i1="13" i2="X" l="SPA">
<s0>Sistema 3 grados libertad</s0>
<s5>21</s5>
</fC03>
<fC03 i1="14" i2="X" l="FRE">
<s0>Carbonate polymère</s0>
<s2>NK</s2>
<s5>22</s5>
</fC03>
<fC03 i1="14" i2="X" l="ENG">
<s0>Polycarbonate</s0>
<s2>NK</s2>
<s5>22</s5>
</fC03>
<fC03 i1="14" i2="X" l="SPA">
<s0>Carbonato polímero</s0>
<s2>NK</s2>
<s5>22</s5>
</fC03>
<fC03 i1="15" i2="X" l="FRE">
<s0>Aluminium</s0>
<s2>NC</s2>
<s2>FR</s2>
<s2>FX</s2>
<s5>23</s5>
</fC03>
<fC03 i1="15" i2="X" l="ENG">
<s0>Aluminium</s0>
<s2>NC</s2>
<s2>FR</s2>
<s2>FX</s2>
<s5>23</s5>
</fC03>
<fC03 i1="15" i2="X" l="SPA">
<s0>Aluminio</s0>
<s2>NC</s2>
<s2>FR</s2>
<s2>FX</s2>
<s5>23</s5>
</fC03>
<fC03 i1="16" i2="X" l="FRE">
<s0>Acier inoxydable</s0>
<s5>24</s5>
</fC03>
<fC03 i1="16" i2="X" l="ENG">
<s0>Stainless steel</s0>
<s5>24</s5>
</fC03>
<fC03 i1="16" i2="X" l="SPA">
<s0>Acero inoxidable</s0>
<s5>24</s5>
</fC03>
<fN21>
<s1>115</s1>
</fN21>
<fN44 i1="01">
<s1>OTO</s1>
</fN44>
<fN82>
<s1>OTO</s1>
</fN82>
</pA>
</standard>
<server>
<NO>PASCAL 05-0168508 INIST</NO>
<ET>Design of a passively balanced spatial linkage haptic interface</ET>
<AU>STEGER (R.); LIN (K.); ADELSTEIN (B. D.); KAZEROONI (H.)</AU>
<AF>Mechanical Engineering Department, University of California/Berkeley, CA 94720/Etats-Unis (1 aut., 2 aut., 4 aut.); Human Factors Research & Technology Division, NASA Ames Research Center/Moffett Field, CA 94035/Etats-Unis (3 aut.)</AF>
<DT>Publication en série; Niveau analytique</DT>
<SO>Journal of mechanical design : (1990); ISSN 1050-0472; Etats-Unis; Da. 2004; Vol. 126; No. 6; Pp. 984-991; Bibl. 23 ref.</SO>
<LA>Anglais</LA>
<EA>This paper describes the design and implementation of a compact high fidelity desktop haptic interface that provides three-degree-of-freedom point-force interaction through a handheld pen-like stylus. The complete haptic device combines a spatial linkage, actuation, power amplification, and control electronics in a standalone package with a footprint similar to that of a notebook computer (33 cm X25 cm ×10 cm). The spatial linkage is composed of one planar and two spherical subloops. Two versions of the spatial linkage were designed: a lightweight polycarbonate plastic version suitable for inexpensive mass production, and an aluminum and stainless steel linkage that offers greater reliability and higher stiffness. Both linkages were designed to be statically balanced over their full workspace.</EA>
<CC>001D12E06</CC>
<FD>Equilibrage; Mécanisme spatial; Mécanisme articulé; Interface utilisateur; Sensibilité tactile; Electronique puissance; Synthèse mécanisme; Poids; Production masse; Fiabilité; Domaine travail; Système passif; Système 3 degrés liberté; Carbonate polymère; Aluminium; Acier inoxydable</FD>
<ED>Balancing; Spatial mechanism; Linkage mechanism; User interface; Tactile sensitivity; Power electronics; Mechanism synthesis; Weight; Mass production; Reliability; Workspace; Passive system; System with three degrees of freedom; Polycarbonate; Aluminium; Stainless steel</ED>
<SD>Equilibrado; Mecanismo espacial; Mecanismo articulado; Interfase usuario; Sensibilidad tactil; Electrónica potencia; Síntesis mecanismo; Peso; Producción en masa; Fiabilidad; Dominio trabajo; Sistema pasivo; Sistema 3 grados libertad; Carbonato polímero; Aluminio; Acero inoxidable</SD>
<LO>INIST-6120L2.354000126872820060</LO>
<ID>05-0168508</ID>
</server>
</inist>
</record>

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