HapticV1, PubMed, Corpus, bibRecord, 000161

Design and Calibration of a New 6 DOF Haptic Device.

Identifieur interne : 000161 ( PubMed/Corpus ); précédent : 000160; suivant : 000162

Design and Calibration of a New 6 DOF Haptic Device.

Auteurs : Huanhuan Qin ; Aiguo Song ; Yuqing Liu ; Guohua Jiang ; Bohe Zhou

Source :

Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2015.

RBID : pubmed:26690449

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.

DOI: 10.3390/s151229857
PubMed: 26690449

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pubmed:26690449

Le document en format XML

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<author><name sortKey="Song, Aiguo" sort="Song, Aiguo" uniqKey="Song A" first="Aiguo" last="Song">Aiguo Song</name>
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<author><name sortKey="Liu, Yuqing" sort="Liu, Yuqing" uniqKey="Liu Y" first="Yuqing" last="Liu">Yuqing Liu</name>
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<front><div type="abstract" xml:lang="en">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.</div>
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<CommentsCorrectionsList><CommentsCorrections RefType="Cites"><RefSource>Int J Med Robot. 2015 Dec;11(4):486-501</RefSource>
<PMID Version="1">25624185</PMID>
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<CommentsCorrections RefType="Cites"><RefSource>Nature. 2002 Jan 24;415(6870):429-33</RefSource>
<PMID Version="1">11807554</PMID>
</CommentsCorrections>
<CommentsCorrections RefType="Cites"><RefSource>IEEE Comput Graph Appl. 2004 Mar-Apr;24(2):24-32</RefSource>
<PMID Version="1">15387225</PMID>
</CommentsCorrections>
<CommentsCorrections RefType="Cites"><RefSource>IEEE Comput Graph Appl. 2004 Mar-Apr;24(2):56-64</RefSource>
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Design and Calibration of a New 6 DOF Haptic Device.

Design and Calibration of a New 6 DOF Haptic Device.

Source :

Abstract

Links to Exploration step

Le document en format XML

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