Design and evaluation of a high-performance haptic interface
Identifieur interne : 009865 ( Main/Merge ); précédent : 009864; suivant : 009866Design 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.
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Pascal:96-0365139Le document en format XML
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Ismaeil</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Computing and Information Science, Queen's University at Kingston</s1><s2>Ontario K7L 3N6</s2><s3>CAN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Canada</country><wicri:noRegion>Ontario K7L 3N6</wicri:noRegion></affiliation></author><author><name sortKey="Lipsett, M G" sort="Lipsett, M G" uniqKey="Lipsett M" first="M. G." last="Lipsett">M. G. Lipsett</name></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">96-0365139</idno><date when="1996">1996</date><idno type="stanalyst">PASCAL 96-0365139 INIST</idno><idno type="RBID">Pascal:96-0365139</idno><idno type="wicri:Area/PascalFrancis/Corpus">001706</idno><idno type="wicri:Area/PascalFrancis/Curation">001415</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">001469</idno><idno type="wicri:doubleKey">0263-5747:1996:Ellis R:design:and:evaluation</idno><idno type="wicri:Area/Main/Merge">009865</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Design and evaluation of a high-performance haptic interface</title><author><name sortKey="Ellis, R E" sort="Ellis, R E" uniqKey="Ellis R" first="R. E." last="Ellis">R. E. Ellis</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Computing and Information Science, Queen's University at Kingston</s1><s2>Ontario K7L 3N6</s2><s3>CAN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Canada</country><wicri:noRegion>Ontario K7L 3N6</wicri:noRegion></affiliation></author><author><name sortKey="Ismaeil, O M" sort="Ismaeil, O M" uniqKey="Ismaeil O" first="O. M." last="Ismaeil">O. M. Ismaeil</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Department of Computing and Information Science, Queen's University at Kingston</s1><s2>Ontario K7L 3N6</s2><s3>CAN</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></inist:fA14><country>Canada</country><wicri:noRegion>Ontario K7L 3N6</wicri:noRegion></affiliation></author><author><name sortKey="Lipsett, M G" sort="Lipsett, M G" uniqKey="Lipsett M" first="M. G." last="Lipsett">M. G. Lipsett</name></author></analytic><series><title level="j" type="main">Robotica</title><title level="j" type="abbreviated">Robotica</title><idno type="ISSN">0263-5747</idno><imprint><date when="1996">1996</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Robotica</title><title level="j" type="abbreviated">Robotica</title><idno type="ISSN">0263-5747</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>High performance</term><term>Mechanical stress</term><term>Operator</term><term>Remote operation</term><term>Robotics</term><term>User interface</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Robotique</term><term>Téléaction</term><term>Haute performance</term><term>Interface utilisateur</term><term>Opérateur</term><term>Contrainte mécanique</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term></keywords></textClass></profileDesc></teiHeader><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></front></TEI><affiliations><list><country><li>Canada</li></country></list><tree><noCountry><name sortKey="Lipsett, M G" sort="Lipsett, M G" uniqKey="Lipsett M" first="M. G." last="Lipsett">M. G. Lipsett</name></noCountry><country name="Canada"><noRegion><name sortKey="Ellis, R E" sort="Ellis, R E" uniqKey="Ellis R" first="R. E." last="Ellis">R. E. Ellis</name></noRegion><name sortKey="Ismaeil, O M" sort="Ismaeil, O M" uniqKey="Ismaeil O" first="O. M." last="Ismaeil">O. M. Ismaeil</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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