Construction and Experimental Study of a 3-Dof Haptic Master for Interactive Operation

Abstract

This paper presents a novel 3-degrees-of-freedom (3-DOF) haptic master with 9 rubber bands for self-resetting. The mechanical design avoids coupling between three 10 directions mechanically by using three perpendicular axis intersecting at one point. Bevel 11 gear transmission is adopted to increase the compactness of the overall structure. 12 VR-based interactive system is designed and built by incorporating the proposed haptic 13 master. The proposed haptic device can generate force feedback along 3-degree-of-freedom 14 motion using motors and provide command signals to the avatar in the virtual 15environment. In order to analyze the performance of the developed device in terms of 16 haptic feedback operation, ergonomics assessments are designed and experimentally 17implemented. Preliminary studies on the influencing factor including the guidance force, 18 the reset force, the speed of the avatar and the arm the length have been conducted. The 19 results of this paper are of great significance for the design of the haptic master and 20 interactive system. 21Keywords: haptic master; force feedback; VR-based interaction; ergonomics assessments 22 23