Isotropy and actuator optimization in haptic interface design

TitleIsotropy and actuator optimization in haptic interface design
Publication TypeConference Paper
Year of Publication2000
AuthorsSalcudean, S. E., and L. Stocco
Conference NameRobotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Pagination763 -769 vol.1
Keywords5-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

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


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