A coarse-fine approach to force-reflecting hand controller design

TitleA coarse-fine approach to force-reflecting hand controller design
Publication TypeConference Paper
Year of Publication1996
AuthorsStocco, L., and S. E. Salcudean
Conference NameRobotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Pagination404 -410 vol.1
Date Publishedapr.
Keywords6-DOF parallel Lorentz actuator, actuators, coarse-fine approach, compliance control, compliant transmission, control equipment, control system synthesis, fine-motion actuator, force-reflecting hand controller, haptic interfaces, magnetic levitation, manipulators, psychophysics, teleoperation, telerobotics, twin-elbow manipulator

A coarse-fine approach to the design of high fidelity haptic interfaces is proposed based on prior work and new psychophysics studies. The approach involves a fine-motion six-degree-of-freedom parallel Lorentz actuator mounted on a series/parallel coarse-motion stage and coupled through a compliant transmission. The frequency response of a simplified model is used to illustrate the advantages of the approach. The workspaces of three coarse-motion platforms are compared. A novel twin-elbow manipulator with all but one of the drive motors in the base is proposed for its simplicity and large workspace size


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