Performance analysis of a 2-link haptic device with electric brakes

Changhyun Cho, Munsang Kim, Jae Bok Song

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

Passive haptic devices have better stability than active ones, but usually have limited capability of haptic display. In this paper a 2-link passive haptic device equipped with electric brakes is discussed. Since passive devices cannot generate forces in all directions, determination of the region available for force reflection is important to their design and operation. This analysis can be done by a so-called force manipulability ellipsoid (FME). In some haptic applications, the endpoint of a device is required to move along a certain trajectory (e.g., the surface of a virtual wall) and haptic display plays a role of path guide. Performance of path guidance is also investigated in this research. Finally, guideline for the design of more efficient passive haptic devices is briefly discussed.

Original languageEnglish
Title of host publicationProceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages47-53
Number of pages7
ISBN (Electronic)0769518907, 9780769518909
DOIs
Publication statusPublished - 2003
Event11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003 - Los Angeles, United States
Duration: 2003 Mar 222003 Mar 23

Publication series

NameProceedings - 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003

Other

Other11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2003
CountryUnited States
CityLos Angeles
Period03/3/2203/3/23

Keywords

  • Actuators
  • Control systems
  • Displays
  • Ellipsoids
  • Haptic interfaces
  • Humans
  • Performance analysis
  • Robots
  • Stability
  • Wheels

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Science Applications
  • Hardware and Architecture
  • Human-Computer Interaction
  • Human Factors and Ergonomics

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