HI2 : a two degrees-of-freedom planar, highly isotropic haptic interface for the desktop
Identifieur interne :
001492 ( PascalFrancis/Corpus );
précédent :
001491;
suivant :
001493
HI2 : a two degrees-of-freedom planar, highly isotropic haptic interface for the desktop
Auteurs : A. Frisoli ;
G. M. Prisco ;
F. Salsedo ;
M. BergamascoSource :
-
SPIE proceedings series [ 1017-2653 ] ; 1999.
RBID : Pascal:00-0153820
Descripteurs français
- Pascal (Inist)
- Matériau isotrope,
Sensibilité tactile,
Système 2 degrés liberté,
Contrôle dimensionnel,
Modèle 2 dimensions,
Position,
Homme,
Adaptabilité,
Ergonomie,
Qualité,
Boucle réaction,
Tendon,
Barre,
Mécanisme articulé,
Mécanisme barre,
Cinématique,
Spécification,
Conception assistée,
Commande force,
Mécanisme 5 barres,
Robotique,
Optimisation,
Représentation graphique,
Modèle dynamique.
English descriptors
- KwdEn :
- Adaptability,
Bar,
Bar mechanism,
Computer aided design,
Dimensional control,
Dynamic model,
Ergonomics,
Feedback,
Five bar mechanism,
Force control,
Graphics,
Human,
Isotropic material,
Kinematics,
Linkage mechanism,
Optimization,
Position,
Quality,
Robotics,
Specification,
System with two degrees of freedom,
Tactile sensitivity,
Tendon,
Two dimensional model.
Abstract
Haptic interfaces which fit on the desktop and provide a cursor control with two-dimensional position convey additive feel sensations to the user in GUI and allow to enhance the efficiency of the human-computer interaction for both single user and collaborative applications. The merit of such devices is determined by the adaptability of the handle to different tasks/users, the ergonomics of the 2D workspace, the overall compactness of the device with respect to the usable workspace and the quality of the force feedback. A novel device has been designed along these guidelines. A new tendon-driven 5-bar mechanism is used to improve the isotropy of the kinematic performance over the workspace and the maximum generated force while reducing the device encumbrance. The present paper illustrates the kinematic and mechanical design of the device and reports the specifications achieved by the CAD model evaluation.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
| pA |
| A01 | 01 | 1 | | @0 1017-2653 |
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| A05 | | | | @2 3840 |
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| A08 | 01 | 1 | ENG | @1 HI2 : a two degrees-of-freedom planar, highly isotropic haptic interface for the desktop |
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| A09 | 01 | 1 | ENG | @1 Telemanipulator and telepresence technologies VI : Boston MA, 19-20 September 1999 |
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| A11 | 01 | 1 | | @1 FRISOLI (A.) |
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| A11 | 02 | 1 | | @1 PRISCO (G. M.) |
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| A11 | 03 | 1 | | @1 SALSEDO (F.) |
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| A11 | 04 | 1 | | @1 BERGAMASCO (M.) |
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| A12 | 01 | 1 | | @1 STEIN (Matthew R.) @9 ed. |
|---|
| A14 | 01 | | | @1 PERCRO, Scuola Superiore S.Anna, Via Carducci, 40 @2 56127 Pisa @3 ITA @Z 1 aut. @Z 2 aut. @Z 3 aut. @Z 4 aut. |
|---|
| A18 | 01 | 1 | | @1 International Society for Optical Engineering @2 Bellingham WA @3 USA @9 patr. |
|---|
| A20 | | | | @1 65-75 |
|---|
| A21 | | | | @1 1999 |
|---|
| A23 | 01 | | | @0 ENG |
|---|
| A26 | 01 | | | @0 0-8194-3433-7 |
|---|
| A43 | 01 | | | @1 INIST @2 21760 @5 354000080084440070 |
|---|
| A44 | | | | @0 0000 @1 © 2000 INIST-CNRS. All rights reserved. |
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| A45 | | | | @0 10 ref. |
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| A47 | 01 | 1 | | @0 00-0153820 |
|---|
| A60 | | | | @1 P @2 C |
|---|
| A61 | | | | @0 A |
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| A64 | 01 | 1 | | @0 SPIE proceedings series |
|---|
| A66 | 01 | | | @0 USA |
|---|
| C01 | 01 | | ENG | @0 Haptic interfaces which fit on the desktop and provide a cursor control with two-dimensional position convey additive feel sensations to the user in GUI and allow to enhance the efficiency of the human-computer interaction for both single user and collaborative applications. The merit of such devices is determined by the adaptability of the handle to different tasks/users, the ergonomics of the 2D workspace, the overall compactness of the device with respect to the usable workspace and the quality of the force feedback. A novel device has been designed along these guidelines. A new tendon-driven 5-bar mechanism is used to improve the isotropy of the kinematic performance over the workspace and the maximum generated force while reducing the device encumbrance. The present paper illustrates the kinematic and mechanical design of the device and reports the specifications achieved by the CAD model evaluation. |
|---|
| C02 | 01 | X | | @0 001D02D11 |
|---|
| C02 | 02 | X | | @0 001D13D |
|---|
| C03 | 01 | X | FRE | @0 Matériau isotrope @5 02 |
|---|
| C03 | 01 | X | ENG | @0 Isotropic material @5 02 |
|---|
| C03 | 01 | X | SPA | @0 Material isótropo @5 02 |
|---|
| C03 | 02 | X | FRE | @0 Sensibilité tactile @5 03 |
|---|
| C03 | 02 | X | ENG | @0 Tactile sensitivity @5 03 |
|---|
| C03 | 02 | X | SPA | @0 Sensibilidad tactil @5 03 |
|---|
| C03 | 03 | X | FRE | @0 Système 2 degrés liberté @5 04 |
|---|
| C03 | 03 | X | ENG | @0 System with two degrees of freedom @5 04 |
|---|
| C03 | 03 | X | SPA | @0 Sistema 2 grados libertad @5 04 |
|---|
| C03 | 04 | X | FRE | @0 Contrôle dimensionnel @5 05 |
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| C03 | 04 | X | ENG | @0 Dimensional control @5 05 |
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| C03 | 04 | X | SPA | @0 Control dimensional @5 05 |
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| C03 | 05 | X | FRE | @0 Modèle 2 dimensions @5 06 |
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| C03 | 05 | X | ENG | @0 Two dimensional model @5 06 |
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| C03 | 05 | X | SPA | @0 Modelo 2 dimensiones @5 06 |
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| C03 | 06 | X | FRE | @0 Position @5 07 |
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| C03 | 06 | X | ENG | @0 Position @5 07 |
|---|
| C03 | 06 | X | SPA | @0 Posición @5 07 |
|---|
| C03 | 07 | X | FRE | @0 Homme @5 08 |
|---|
| C03 | 07 | X | ENG | @0 Human @5 08 |
|---|
| C03 | 07 | X | SPA | @0 Hombre @5 08 |
|---|
| C03 | 08 | X | FRE | @0 Adaptabilité @5 09 |
|---|
| C03 | 08 | X | ENG | @0 Adaptability @5 09 |
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| C03 | 08 | X | SPA | @0 Adaptabilidad @5 09 |
|---|
| C03 | 09 | X | FRE | @0 Ergonomie @5 10 |
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| C03 | 09 | X | ENG | @0 Ergonomics @5 10 |
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| C03 | 09 | X | SPA | @0 Ergonomía @5 10 |
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| C03 | 10 | X | FRE | @0 Qualité @5 11 |
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| C03 | 10 | X | ENG | @0 Quality @5 11 |
|---|
| C03 | 10 | X | SPA | @0 Calidad @5 11 |
|---|
| C03 | 11 | X | FRE | @0 Boucle réaction @5 12 |
|---|
| C03 | 11 | X | ENG | @0 Feedback @5 12 |
|---|
| C03 | 11 | X | SPA | @0 Retroalimentación @5 12 |
|---|
| C03 | 12 | X | FRE | @0 Tendon @5 13 |
|---|
| C03 | 12 | X | ENG | @0 Tendon @5 13 |
|---|
| C03 | 12 | X | SPA | @0 Tendón @5 13 |
|---|
| C03 | 13 | X | FRE | @0 Barre @5 14 |
|---|
| C03 | 13 | X | ENG | @0 Bar @5 14 |
|---|
| C03 | 13 | X | SPA | @0 Barra @5 14 |
|---|
| C03 | 14 | X | FRE | @0 Mécanisme articulé @5 15 |
|---|
| C03 | 14 | X | ENG | @0 Linkage mechanism @5 15 |
|---|
| C03 | 14 | X | SPA | @0 Mecanismo articulado @5 15 |
|---|
| C03 | 15 | X | FRE | @0 Mécanisme barre @5 16 |
|---|
| C03 | 15 | X | ENG | @0 Bar mechanism @5 16 |
|---|
| C03 | 15 | X | SPA | @0 Mecanismo barra @5 16 |
|---|
| C03 | 16 | X | FRE | @0 Cinématique @5 17 |
|---|
| C03 | 16 | X | ENG | @0 Kinematics @5 17 |
|---|
| C03 | 16 | X | SPA | @0 Cinemática @5 17 |
|---|
| C03 | 17 | X | FRE | @0 Spécification @5 18 |
|---|
| C03 | 17 | X | ENG | @0 Specification @5 18 |
|---|
| C03 | 17 | X | SPA | @0 Especificación @5 18 |
|---|
| C03 | 18 | X | FRE | @0 Conception assistée @5 19 |
|---|
| C03 | 18 | X | ENG | @0 Computer aided design @5 19 |
|---|
| C03 | 18 | X | SPA | @0 Concepción asistida @5 19 |
|---|
| C03 | 19 | X | FRE | @0 Commande force @5 21 |
|---|
| C03 | 19 | X | ENG | @0 Force control @5 21 |
|---|
| C03 | 19 | X | SPA | @0 Control fuerza @5 21 |
|---|
| C03 | 20 | X | FRE | @0 Mécanisme 5 barres @5 22 |
|---|
| C03 | 20 | X | ENG | @0 Five bar mechanism @5 22 |
|---|
| C03 | 20 | X | SPA | @0 Mecanismo 5 barras @5 22 |
|---|
| C03 | 21 | X | FRE | @0 Robotique @5 23 |
|---|
| C03 | 21 | X | ENG | @0 Robotics @5 23 |
|---|
| C03 | 21 | X | SPA | @0 Robótica @5 23 |
|---|
| C03 | 22 | X | FRE | @0 Optimisation @5 25 |
|---|
| C03 | 22 | X | ENG | @0 Optimization @5 25 |
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| C03 | 22 | X | SPA | @0 Optimización @5 25 |
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| C03 | 23 | X | FRE | @0 Représentation graphique @5 26 |
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| C03 | 23 | X | ENG | @0 Graphics @5 26 |
|---|
| C03 | 23 | X | SPA | @0 Representación gráfica @5 26 |
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| C03 | 24 | X | FRE | @0 Modèle dynamique @5 27 |
|---|
| C03 | 24 | X | ENG | @0 Dynamic model @5 27 |
|---|
| C03 | 24 | X | SPA | @0 Modelo dinámico @5 27 |
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| N21 | | | | @1 108 |
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|
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| pR |
| A30 | 01 | 1 | ENG | @1 Telemanipulator and telepresence technologies. Conference @2 6 @3 Boston MA USA @4 1999-09-19 |
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|
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Format Inist (serveur)
| NO : | PASCAL 00-0153820 INIST |
|---|
| ET : | HI2 : a two degrees-of-freedom planar, highly isotropic haptic interface for the desktop |
|---|
| AU : | FRISOLI (A.); PRISCO (G. M.); SALSEDO (F.); BERGAMASCO (M.); STEIN (Matthew R.) |
|---|
| AF : | PERCRO, Scuola Superiore S.Anna, Via Carducci, 40/56127 Pisa/Italie (1 aut., 2 aut., 3 aut., 4 aut.) |
|---|
| DT : | Publication en série; Congrès; Niveau analytique |
|---|
| SO : | SPIE proceedings series; ISSN 1017-2653; Etats-Unis; Da. 1999; Vol. 3840; Pp. 65-75; Bibl. 10 ref. |
|---|
| LA : | Anglais |
|---|
| EA : | Haptic interfaces which fit on the desktop and provide a cursor control with two-dimensional position convey additive feel sensations to the user in GUI and allow to enhance the efficiency of the human-computer interaction for both single user and collaborative applications. The merit of such devices is determined by the adaptability of the handle to different tasks/users, the ergonomics of the 2D workspace, the overall compactness of the device with respect to the usable workspace and the quality of the force feedback. A novel device has been designed along these guidelines. A new tendon-driven 5-bar mechanism is used to improve the isotropy of the kinematic performance over the workspace and the maximum generated force while reducing the device encumbrance. The present paper illustrates the kinematic and mechanical design of the device and reports the specifications achieved by the CAD model evaluation. |
|---|
| CC : | 001D02D11; 001D13D |
|---|
| FD : | Matériau isotrope; Sensibilité tactile; Système 2 degrés liberté; Contrôle dimensionnel; Modèle 2 dimensions; Position; Homme; Adaptabilité; Ergonomie; Qualité; Boucle réaction; Tendon; Barre; Mécanisme articulé; Mécanisme barre; Cinématique; Spécification; Conception assistée; Commande force; Mécanisme 5 barres; Robotique; Optimisation; Représentation graphique; Modèle dynamique |
|---|
| ED : | Isotropic material; Tactile sensitivity; System with two degrees of freedom; Dimensional control; Two dimensional model; Position; Human; Adaptability; Ergonomics; Quality; Feedback; Tendon; Bar; Linkage mechanism; Bar mechanism; Kinematics; Specification; Computer aided design; Force control; Five bar mechanism; Robotics; Optimization; Graphics; Dynamic model |
|---|
| SD : | Material isótropo; Sensibilidad tactil; Sistema 2 grados libertad; Control dimensional; Modelo 2 dimensiones; Posición; Hombre; Adaptabilidad; Ergonomía; Calidad; Retroalimentación; Tendón; Barra; Mecanismo articulado; Mecanismo barra; Cinemática; Especificación; Concepción asistida; Control fuerza; Mecanismo 5 barras; Robótica; Optimización; Representación gráfica; Modelo dinámico |
|---|
| LO : | INIST-21760.354000080084440070 |
|---|
| ID : | 00-0153820 |
|---|
Links to Exploration step
Pascal:00-0153820
Le document en format XML
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<term>Bar</term>
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<term>Dimensional control</term>
<term>Dynamic model</term>
<term>Ergonomics</term>
<term>Feedback</term>
<term>Five bar mechanism</term>
<term>Force control</term>
<term>Graphics</term>
<term>Human</term>
<term>Isotropic material</term>
<term>Kinematics</term>
<term>Linkage mechanism</term>
<term>Optimization</term>
<term>Position</term>
<term>Quality</term>
<term>Robotics</term>
<term>Specification</term>
<term>System with two degrees of freedom</term>
<term>Tactile sensitivity</term>
<term>Tendon</term>
<term>Two dimensional model</term>
</keywords><keywords scheme="Pascal" xml:lang="fr"><term>Matériau isotrope</term>
<term>Sensibilité tactile</term>
<term>Système 2 degrés liberté</term>
<term>Contrôle dimensionnel</term>
<term>Modèle 2 dimensions</term>
<term>Position</term>
<term>Homme</term>
<term>Adaptabilité</term>
<term>Ergonomie</term>
<term>Qualité</term>
<term>Boucle réaction</term>
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<term>Mécanisme 5 barres</term>
<term>Robotique</term>
<term>Optimisation</term>
<term>Représentation graphique</term>
<term>Modèle dynamique</term>
</keywords><front><div type="abstract" xml:lang="en">Haptic interfaces which fit on the desktop and provide a cursor control with two-dimensional position convey additive feel sensations to the user in GUI and allow to enhance the efficiency of the human-computer interaction for both single user and collaborative applications. The merit of such devices is determined by the adaptability of the handle to different tasks/users, the ergonomics of the 2D workspace, the overall compactness of the device with respect to the usable workspace and the quality of the force feedback. A novel device has been designed along these guidelines. A new tendon-driven 5-bar mechanism is used to improve the isotropy of the kinematic performance over the workspace and the maximum generated force while reducing the device encumbrance. The present paper illustrates the kinematic and mechanical design of the device and reports the specifications achieved by the CAD model evaluation.</div>
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</fA09><fA11 i1="01" i2="1"><s1>FRISOLI (A.)</s1>
</fA11><fA11 i1="02" i2="1"><s1>PRISCO (G. M.)</s1>
</fA11><fA11 i1="03" i2="1"><s1>SALSEDO (F.)</s1>
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</fA11><fA12 i1="01" i2="1"><s1>STEIN (Matthew R.)</s1>
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</fA12><fA14 i1="01"><s1>PERCRO, Scuola Superiore S.Anna, Via Carducci, 40</s1>
<s2>56127 Pisa</s2>
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<sZ>2 aut.</sZ>
<sZ>3 aut.</sZ>
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</fC03><fC03 i1="01" i2="X" l="SPA"><s0>Material isótropo</s0>
<s5>02</s5>
</fC03><fC03 i1="02" i2="X" l="FRE"><s0>Sensibilité tactile</s0>
<s5>03</s5>
</fC03><fC03 i1="02" i2="X" l="ENG"><s0>Tactile sensitivity</s0>
<s5>03</s5>
</fC03><fC03 i1="02" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>03</s5>
</fC03><fC03 i1="03" i2="X" l="FRE"><s0>Système 2 degrés liberté</s0>
<s5>04</s5>
</fC03><fC03 i1="03" i2="X" l="ENG"><s0>System with two degrees of freedom</s0>
<s5>04</s5>
</fC03><fC03 i1="03" i2="X" l="SPA"><s0>Sistema 2 grados libertad</s0>
<s5>04</s5>
</fC03><fC03 i1="04" i2="X" l="FRE"><s0>Contrôle dimensionnel</s0>
<s5>05</s5>
</fC03><fC03 i1="04" i2="X" l="ENG"><s0>Dimensional control</s0>
<s5>05</s5>
</fC03><fC03 i1="04" i2="X" l="SPA"><s0>Control dimensional</s0>
<s5>05</s5>
</fC03><fC03 i1="05" i2="X" l="FRE"><s0>Modèle 2 dimensions</s0>
<s5>06</s5>
</fC03><fC03 i1="05" i2="X" l="ENG"><s0>Two dimensional model</s0>
<s5>06</s5>
</fC03><fC03 i1="05" i2="X" l="SPA"><s0>Modelo 2 dimensiones</s0>
<s5>06</s5>
</fC03><fC03 i1="06" i2="X" l="FRE"><s0>Position</s0>
<s5>07</s5>
</fC03><fC03 i1="06" i2="X" l="ENG"><s0>Position</s0>
<s5>07</s5>
</fC03><fC03 i1="06" i2="X" l="SPA"><s0>Posición</s0>
<s5>07</s5>
</fC03><fC03 i1="07" i2="X" l="FRE"><s0>Homme</s0>
<s5>08</s5>
</fC03><fC03 i1="07" i2="X" l="ENG"><s0>Human</s0>
<s5>08</s5>
</fC03><fC03 i1="07" i2="X" l="SPA"><s0>Hombre</s0>
<s5>08</s5>
</fC03><fC03 i1="08" i2="X" l="FRE"><s0>Adaptabilité</s0>
<s5>09</s5>
</fC03><fC03 i1="08" i2="X" l="ENG"><s0>Adaptability</s0>
<s5>09</s5>
</fC03><fC03 i1="08" i2="X" l="SPA"><s0>Adaptabilidad</s0>
<s5>09</s5>
</fC03><fC03 i1="09" i2="X" l="FRE"><s0>Ergonomie</s0>
<s5>10</s5>
</fC03><fC03 i1="09" i2="X" l="ENG"><s0>Ergonomics</s0>
<s5>10</s5>
</fC03><fC03 i1="09" i2="X" l="SPA"><s0>Ergonomía</s0>
<s5>10</s5>
</fC03><fC03 i1="10" i2="X" l="FRE"><s0>Qualité</s0>
<s5>11</s5>
</fC03><fC03 i1="10" i2="X" l="ENG"><s0>Quality</s0>
<s5>11</s5>
</fC03><fC03 i1="10" i2="X" l="SPA"><s0>Calidad</s0>
<s5>11</s5>
</fC03><fC03 i1="11" i2="X" l="FRE"><s0>Boucle réaction</s0>
<s5>12</s5>
</fC03><fC03 i1="11" i2="X" l="ENG"><s0>Feedback</s0>
<s5>12</s5>
</fC03><fC03 i1="11" i2="X" l="SPA"><s0>Retroalimentación</s0>
<s5>12</s5>
</fC03><fC03 i1="12" i2="X" l="FRE"><s0>Tendon</s0>
<s5>13</s5>
</fC03><fC03 i1="12" i2="X" l="ENG"><s0>Tendon</s0>
<s5>13</s5>
</fC03><fC03 i1="12" i2="X" l="SPA"><s0>Tendón</s0>
<s5>13</s5>
</fC03><fC03 i1="13" i2="X" l="FRE"><s0>Barre</s0>
<s5>14</s5>
</fC03><fC03 i1="13" i2="X" l="ENG"><s0>Bar</s0>
<s5>14</s5>
</fC03><fC03 i1="13" i2="X" l="SPA"><s0>Barra</s0>
<s5>14</s5>
</fC03><fC03 i1="14" i2="X" l="FRE"><s0>Mécanisme articulé</s0>
<s5>15</s5>
</fC03><fC03 i1="14" i2="X" l="ENG"><s0>Linkage mechanism</s0>
<s5>15</s5>
</fC03><fC03 i1="14" i2="X" l="SPA"><s0>Mecanismo articulado</s0>
<s5>15</s5>
</fC03><fC03 i1="15" i2="X" l="FRE"><s0>Mécanisme barre</s0>
<s5>16</s5>
</fC03><fC03 i1="15" i2="X" l="ENG"><s0>Bar mechanism</s0>
<s5>16</s5>
</fC03><fC03 i1="15" i2="X" l="SPA"><s0>Mecanismo barra</s0>
<s5>16</s5>
</fC03><fC03 i1="16" i2="X" l="FRE"><s0>Cinématique</s0>
<s5>17</s5>
</fC03><fC03 i1="16" i2="X" l="ENG"><s0>Kinematics</s0>
<s5>17</s5>
</fC03><fC03 i1="16" i2="X" l="SPA"><s0>Cinemática</s0>
<s5>17</s5>
</fC03><fC03 i1="17" i2="X" l="FRE"><s0>Spécification</s0>
<s5>18</s5>
</fC03><fC03 i1="17" i2="X" l="ENG"><s0>Specification</s0>
<s5>18</s5>
</fC03><fC03 i1="17" i2="X" l="SPA"><s0>Especificación</s0>
<s5>18</s5>
</fC03><fC03 i1="18" i2="X" l="FRE"><s0>Conception assistée</s0>
<s5>19</s5>
</fC03><fC03 i1="18" i2="X" l="ENG"><s0>Computer aided design</s0>
<s5>19</s5>
</fC03><fC03 i1="18" i2="X" l="SPA"><s0>Concepción asistida</s0>
<s5>19</s5>
</fC03><fC03 i1="19" i2="X" l="FRE"><s0>Commande force</s0>
<s5>21</s5>
</fC03><fC03 i1="19" i2="X" l="ENG"><s0>Force control</s0>
<s5>21</s5>
</fC03><fC03 i1="19" i2="X" l="SPA"><s0>Control fuerza</s0>
<s5>21</s5>
</fC03><fC03 i1="20" i2="X" l="FRE"><s0>Mécanisme 5 barres</s0>
<s5>22</s5>
</fC03><fC03 i1="20" i2="X" l="ENG"><s0>Five bar mechanism</s0>
<s5>22</s5>
</fC03><fC03 i1="20" i2="X" l="SPA"><s0>Mecanismo 5 barras</s0>
<s5>22</s5>
</fC03><fC03 i1="21" i2="X" l="FRE"><s0>Robotique</s0>
<s5>23</s5>
</fC03><fC03 i1="21" i2="X" l="ENG"><s0>Robotics</s0>
<s5>23</s5>
</fC03><fC03 i1="21" i2="X" l="SPA"><s0>Robótica</s0>
<s5>23</s5>
</fC03><fC03 i1="22" i2="X" l="FRE"><s0>Optimisation</s0>
<s5>25</s5>
</fC03><fC03 i1="22" i2="X" l="ENG"><s0>Optimization</s0>
<s5>25</s5>
</fC03><fC03 i1="22" i2="X" l="SPA"><s0>Optimización</s0>
<s5>25</s5>
</fC03><fC03 i1="23" i2="X" l="FRE"><s0>Représentation graphique</s0>
<s5>26</s5>
</fC03><fC03 i1="23" i2="X" l="ENG"><s0>Graphics</s0>
<s5>26</s5>
</fC03><fC03 i1="23" i2="X" l="SPA"><s0>Representación gráfica</s0>
<s5>26</s5>
</fC03><fC03 i1="24" i2="X" l="FRE"><s0>Modèle dynamique</s0>
<s5>27</s5>
</fC03><fC03 i1="24" i2="X" l="ENG"><s0>Dynamic model</s0>
<s5>27</s5>
</fC03><fC03 i1="24" i2="X" l="SPA"><s0>Modelo dinámico</s0>
<s5>27</s5>
</fC03><fN21><s1>108</s1>
</fN21><pR><fA30 i1="01" i2="1" l="ENG"><s1>Telemanipulator and telepresence technologies. Conference</s1>
<s2>6</s2>
<s3>Boston MA USA</s3>
<s4>1999-09-19</s4>
</fA30><server><NO>PASCAL 00-0153820 INIST</NO>
<ET>HI<sup>2</sup>
: a two degrees-of-freedom planar, highly isotropic haptic interface for the desktop</ET><AU>FRISOLI (A.); PRISCO (G. M.); SALSEDO (F.); BERGAMASCO (M.); STEIN (Matthew R.)</AU>
<AF>PERCRO, Scuola Superiore S.Anna, Via Carducci, 40/56127 Pisa/Italie (1 aut., 2 aut., 3 aut., 4 aut.)</AF>
<DT>Publication en série; Congrès; Niveau analytique</DT>
<SO>SPIE proceedings series; ISSN 1017-2653; Etats-Unis; Da. 1999; Vol. 3840; Pp. 65-75; Bibl. 10 ref.</SO>
<LA>Anglais</LA>
<EA>Haptic interfaces which fit on the desktop and provide a cursor control with two-dimensional position convey additive feel sensations to the user in GUI and allow to enhance the efficiency of the human-computer interaction for both single user and collaborative applications. The merit of such devices is determined by the adaptability of the handle to different tasks/users, the ergonomics of the 2D workspace, the overall compactness of the device with respect to the usable workspace and the quality of the force feedback. A novel device has been designed along these guidelines. A new tendon-driven 5-bar mechanism is used to improve the isotropy of the kinematic performance over the workspace and the maximum generated force while reducing the device encumbrance. The present paper illustrates the kinematic and mechanical design of the device and reports the specifications achieved by the CAD model evaluation.</EA>
<CC>001D02D11; 001D13D</CC>
<FD>Matériau isotrope; Sensibilité tactile; Système 2 degrés liberté; Contrôle dimensionnel; Modèle 2 dimensions; Position; Homme; Adaptabilité; Ergonomie; Qualité; Boucle réaction; Tendon; Barre; Mécanisme articulé; Mécanisme barre; Cinématique; Spécification; Conception assistée; Commande force; Mécanisme 5 barres; Robotique; Optimisation; Représentation graphique; Modèle dynamique</FD>
<ED>Isotropic material; Tactile sensitivity; System with two degrees of freedom; Dimensional control; Two dimensional model; Position; Human; Adaptability; Ergonomics; Quality; Feedback; Tendon; Bar; Linkage mechanism; Bar mechanism; Kinematics; Specification; Computer aided design; Force control; Five bar mechanism; Robotics; Optimization; Graphics; Dynamic model</ED>
<SD>Material isótropo; Sensibilidad tactil; Sistema 2 grados libertad; Control dimensional; Modelo 2 dimensiones; Posición; Hombre; Adaptabilidad; Ergonomía; Calidad; Retroalimentación; Tendón; Barra; Mecanismo articulado; Mecanismo barra; Cinemática; Especificación; Concepción asistida; Control fuerza; Mecanismo 5 barras; Robótica; Optimización; Representación gráfica; Modelo dinámico</SD>
<LO>INIST-21760.354000080084440070</LO>
<ID>00-0153820</ID>
</server>
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