SHaDe, a new 3-DOF haptic device
SHaDe, a new 3-DOF haptic device
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DOI：
10.1109/tra.2002.999645
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发表时间：
2002-04-01
期刊：
影响因子：
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通讯作者：
Laliberté, T
中科院分区：
文献类型：
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作者：
Birglen, L;Gosselin, C;Laliberté, T
本文提出了一种新型的球面几何触觉装置。触觉设备的基本思想是向用户提供有关他或她产生的运动和/或力的反馈信息。触觉设备有几个潜在的应用，例如，精细装配、虚拟现实环境模拟和高精度遥操作，特别是在危险或恶劣的地区。将介绍这里开发的球形触觉设备的特定结构，并突出其优势。然后，将回顾其用于控制和几何优化目的的基本运动学特性。然后，设计优化本身将突出该机构的一些重要特征。然后介绍了控制方案和实时力反馈问题。最后，对样机所获得的结果进行了讨论。
This paper presents a new type of haptic device using spherical geometry. The basic idea of haptic devices is to provide users with feedback information on the motion and/or force that he or she generates. Haptic devices have several potential applications such as, for example, fine compliant assembly, VR environment simulation, and high-precision teleoperation, especially in hazardous or hostile areas. The particular architecture of the spherical haptic device developed here will be presented and its advantages will be highlighted. Then, its basic kinematic properties, which shall be used for control and geometric optimization purposes, will be reviewed. The design optimization itself will then highlight some important features of the mechanism. The control scheme and real-time force feedback issues will then be presented. Finally, the results obtained with the prototype will be discussed.