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| 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 |