Design and evaluation of a high-performance haptic interface
Identifieur interne : 008F24 ( Main/Exploration ); précédent : 008F23; suivant : 008F25Design and evaluation of a high-performance haptic interface
Auteurs : R. E. Ellis [Canada] ; O. M. Ismaeil [Canada] ; M. G. LipsettSource :
- Robotica [ 0263-5747 ] ; 1996.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique.
English descriptors
Abstract
A haptic interface is a computer-controlled mechanism designed to detect motion of a human operator without impeding that motion, and to feed back forces from a teleoperated robot or virtual environment. Design of such a device is not trivial, because of the many conflicting constraints the designer must face. As part of our research into haptics, we have developed a prototype planar mechanism. It has low apparent mass and damping, high structural stiffness, high force bandwidth, high force dynamic range, and an absence of mechanical singularities within its workspace. We present an analysis of the human-operator and mechanical constraints that apply to any such device, and propose methods for the evaluation of haptic interfaces. Our evaluation criteria are derived from the original task analysis, and are a first step towards a replicable methodology for comparing the performance of different devices.
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: 001706
- to stream PascalFrancis, to step Curation: 001415
- to stream PascalFrancis, to step Checkpoint: 001469
- to stream Main, to step Merge: 009865
- to stream Main, to step Curation: 008F24
Le document en format XML
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<front><div type="abstract" xml:lang="en">A haptic interface is a computer-controlled mechanism designed to detect motion of a human operator without impeding that motion, and to feed back forces from a teleoperated robot or virtual environment. Design of such a device is not trivial, because of the many conflicting constraints the designer must face. As part of our research into haptics, we have developed a prototype planar mechanism. It has low apparent mass and damping, high structural stiffness, high force bandwidth, high force dynamic range, and an absence of mechanical singularities within its workspace. We present an analysis of the human-operator and mechanical constraints that apply to any such device, and propose methods for the evaluation of haptic interfaces. Our evaluation criteria are derived from the original task analysis, and are a first step towards a replicable methodology for comparing the performance of different devices.</div>
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