Title | Isotropy and actuator optimization in haptic interface design |
Publication Type | Conference Paper |
Year of Publication | 2000 |
Authors | Salcudean, S. E., and L. Stocco |
Conference Name | Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on |
Pagination | 763 -769 vol.1 |
Keywords | 5-DOF haptic pen, actuator optimization, actuators, coreless motors, force maximization, haptic interface acceleration maximization, haptic interface design, haptic interfaces, impedance mode, MagLev joystick, optimisation, planar 3-DOF haptic mouse, uniform force capability, voice-coil motors, workspace-inclusive isotropy index |
Abstract | 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 |
URL | http://dx.doi.org/10.1109/ROBOT.2000.844143 |
DOI | 10.1109/ROBOT.2000.844143 |