Dynamic Systems and Control 1999
DOI: 10.1115/imece1999-0005
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The Role of the End-Effector in the Perception of Virtual Surfaces Presented via Force-Feedback Haptic Interfaces

Abstract: Differences in the force profile delivered by different types of end-effectors suggest that the choice of end-effector for a haptic interface can have a considerable effect on the perception of the human user. In the present study two different end-effector types were evaluated for two different haptic interfaces. Conventional probe-stylus end-effectors were tested on the PHANToM 3-degree-of-freedom (DOF) force feedback haptic interface and for the Immersion IE2000 2-DOF force feedback joystick. These were com… Show more

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