Title :
Isotropy and actuator optimization in haptic interface design
Author :
Salcudean, S.E. ; Stocco, L.
Author_Institution :
Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada
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
Keywords :
actuators; haptic interfaces; optimisation; 5-DOF haptic pen; MagLev joystick; actuator optimization; coreless motors; force maximization; haptic interface acceleration maximization; haptic interface design; impedance mode; planar 3-DOF haptic mouse; uniform force capability; voice-coil motors; workspace-inclusive isotropy index; Acceleration; Actuators; Design methodology; Design optimization; Force control; Haptic interfaces; Humans; Impedance; Magnetic levitation; Mice;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844143
