Optimal design of a high performance haptic device: A novel approach

Stability and transparency are very important performance measures in the design of haptic devices. This paper addresses the design of haptic device in the case of interaction to a virtual wall. A novel optimal design method for high performance (stability and low inertia) haptic devices is presented. In which, the influences of mechanical and command specifications on the performance of haptic devices are studied in the same mechanical pre-design process. An algorithm for optimal design procedure is proposed. As a results, a low inertia haptic device with designed parameters satisfy the desired contact stiffness of virtual wall is archived.