Title :
A coarse-fine approach to force-reflecting hand controller design
Author :
Stocco, L. ; Salcudean, S.E.
Author_Institution :
Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada
Abstract :
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
Keywords :
actuators; compliance control; control equipment; control system synthesis; magnetic levitation; manipulators; telerobotics; 6-DOF parallel Lorentz actuator; coarse-fine approach; compliant transmission; fine-motion actuator; force-reflecting hand controller; haptic interfaces; magnetic levitation; psychophysics; teleoperation; twin-elbow manipulator; Couplings; Elbow; Force control; Frequency response; Haptic interfaces; Humans; Magnetic levitation; Pneumatic actuators; Psychology; Space exploration;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.503810
