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ICRA
2000
IEEE

Isotropy and Actuator Optimization in Haptic Interface Design

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Isotropy and Actuator Optimization in Haptic Interface Design
A haptic interface controlled in impedance mode should present its user with a uniform force capability matching the human hand. This paper reviews a mechanism design methodology that maximizes a workspace-inclusive isotropy index. Force maximization in coreless or voice-coil motors is also considered in order to maximize haptic interface acceleration. Example designs of a planar 3-DOF haptic mouse, a 5-DOF haptic pen and a MagLev joystick are presented.
S. E. Salcudean, Leo J. Stocco
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors S. E. Salcudean, Leo J. Stocco
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