A coarse-fine approach to force-reflecting hand controller design

Stocco, Leo; Salcudean, Septimiu E.

doi:10.1109/robot.1996.503810

Cited by 28 publications

(24 citation statements)

References 29 publications

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“…The low static friction to peak force ratio is also extremely positive, since it assures the device has a good dynamic range. The remaining results are also within range of what is expected from a haptic interface [11,13,14] and reassure us that the device should provide good fidelity for haptic interactions.…”

Section: B Test Results and Discussionsupporting

confidence: 76%

Design and Test of a 1 DOF Haptic Device for Online Experimentation

et al. 2016

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Abstract-This work describes the design and testing of a 1 degree of freedom (DOF) haptic device, for interaction with virtual reality (VR) applications. This device was designed so that it could to be easily assembled by anyone at a reduced price. Instructions for device assembly, as well as some VR applications are available online. The tests performed on the device proved that, despite its low cost, it is able to provide users with a good haptic experience and is adequate for not complex applications.Index Terms-1 DOF haptic device, haptic interaction, virtual reality.

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Section: B Test Results and Discussionsupporting

confidence: 76%

Design and Test of a 1 DOF Haptic Device for Online Experimentation

et al. 2016

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“…The reasoning is simple: Contacts and shocks are characterised by rapid changes in velocity, hence the need for high and uniform acceleration. The importance of peak acceleration was further confirmed in [24].…”

Section: Peak Accelerationmentioning

confidence: 76%

Performance Measures for Haptic Interfaces

1996

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A haptic interface is distinct from other display devices because it is bi-directional; it is capable of both reading and writing input to and from a human user. Due to both the direct human interaction and bi-directionality there has been much ambiguity in describing and evaluating these devices, making evaluation and comparison difficult. The goal of this paper is to set out requirements and guidelines for the performance measures of haptic devices and to hopefully lead towards resolving the current equivocal situation. In particular, performance measures are introduced which have so far not been pertinent in traditional robotics; these include, peak force, peak acceleration and frequency dependent measurements. Performance measures often quoted in traditional robotics are also discussed, however, the focus and relevance of these measures are different in haptic devices. Each of the suggested performance measures in this paper is discussed with respect to its importance, its measurabilty and the condition under which it should be measured.

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“…Here, a large motor 'carries' a smaller one, but both share the same load since they are on the same load path. Such a scheme has been advocated for haptic devices (Stocco and Salcudean, 1996;Wall and Harwin, 2001). With proper control, this configuration can reduce the apparent inertia of the whole system but the small motor must be able to bear the whole brunt of the load.…”

Section: Related Approachesmentioning

confidence: 99%

Haptic interface transparency achieved through viscous coupling

Mohand-Ousaid

Millet

Régnier

et al. 2011

The International Journal of Robotics Research

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Electromagnetic drives are subjected to an inherent inertia-torque tradeoff that fundamentally limits transparency: the higher the torque, the higher the inertia. We describe a dual-stage design that is not subjected to this tradeoff and that is able to approach perfect transparency for human users. It comprises a large, proximal motor and a small, distal motor to reproduce the transients. The two stages are coupled by a viscous clutch based on eddy-currents that, without contact, accurately transforms slip velocity into torque. Such a system can, in general, be controlled to achieve a variety of objectives. Here, we show that an advanced, discrete-time, rst polynomial poleplacement controller can achieve near-perfect transparency. Experimental validation evaluated the human ability to detect small haptic details when using this drive and compared it to when using a conventional, single-motor interface.

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A coarse-fine approach to force-reflecting hand controller design

Cited by 28 publications

References 29 publications

Design and Test of a 1 DOF Haptic Device for Online Experimentation

Design and Test of a 1 DOF Haptic Device for Online Experimentation

Performance Measures for Haptic Interfaces

Haptic interface transparency achieved through viscous coupling

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