SHaDe, a new 3-DOF haptic device

Author

Birglen, Lionel ; Gosselin, Clément ; Pouliot, Nicolas ; Monsarrat, Bruno ; Laliberté, Thierry

Author_Institution

Dept. of Mech. Eng., Laval Univ., Que., Canada

Volume

18

Issue

2

fYear

2002

fDate

4/1/2002 12:00:00 AM

Firstpage

166

Lastpage

175

Abstract

This paper presents a new type of haptic device using spherical geometry. The basic idea of haptic devices is to provide users with feedback information on the motion and/or force that he or she generates. Haptic devices have several potential applications such as, for example, fine compliant assembly, VR environment simulation, and high-precision teleoperation, especially in hazardous or hostile areas. The particular architecture of the spherical haptic device developed here will be presented and its advantages will be highlighted. Then, its basic kinematic properties, which shall be used for control and geometric optimization purposes, will be reviewed. The design optimization itself will then highlight some important features of the mechanism. The control scheme and real-time force feedback issues will then be presented. Finally, the results obtained with the prototype will be discussed

Keywords

control system synthesis; force control; force feedback; haptic interfaces; manipulator kinematics; 3-DOF haptic device; SHaDe; VR environment simulation; control optimization; control scheme; design optimization; feedback information; fine compliant assembly; force control; geometric optimization; hazardous areas; high-precision teleoperation; hostile areas; kinematic properties; parallel mechanism; real-time force feedback; spherical geometry; spherical haptic device; Assembly; Design optimization; Force control; Force feedback; Geometry; Haptic interfaces; Kinematics; Prototypes; Surgery; Virtual reality;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/TRA.2002.999645

Filename

999645