Image Processing Based Stiffness Mapping of a Haptic Device

Abstract

The widely accepted performance criteria of haptic devices, which are transparency and z-width, are affected by the stiffness characteristics of the haptic device's mechanism. In addition indirect measurement of the handle pose of a haptic device is also affected by the stiffness characteristic. In this study, image processing techniques are used in the experimental setup to develop a stiffness map of a haptic device. The experimentally developed stiffness map is presented and the results are discussed by addressing future works.

Time efficient stiffness model computation for a parallel haptic mechanism via the virtual joint method

“…In this method, either the applied forces F ext or resultant deflections X are assumed to be known. K θ may be computed by using the analytical representations of beams [28,40,41] , by using numerical results of FEM [42] , or by using experimental results [43] . Therefore, while VJM produces computationally efficient models, these models can also produce reliable results.…”

Experimental Structural Stiffness Analysis of a Surgical Haptic Master Device Manipulator

“…In Refs. [26][27][28], compliant deflections are captured by a camera and computed by using image processing techniques. In Ref.…”

Experimental Compliance Matrix Derivation for Enhancing Trajectory Tracking of a 2-DoF High-Accelerated Over-Constrained Mechanism

“…In another experimental stiffness measurement method, a measurement system composed of cameras is used to measure the end-effector displacements of a haptic device [7].…”