CyberForce Haptic Device: Kinematics and Manipulability

The position and differential kinematics, for a haptic device, represent the mathematical model that describes the behavior and evolution of its spatial geometry. Contributions in a Human-Robot Physical Interaction system, are: i) operational cartesian motion planning and verification of performance on tasks of passive haptic guidance, ii) torque / force relationship through the analytical Jacobian matrix with purposes in active haptic exploration, iii) the kinematic manipulability analysis in real-time and re-planning paths. In this paper obtaining the position and differential kinematics as well as simulation and experimental validations, for a CyberForce haptic device in its position kinematics chain.