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Design and evaluation of a high-performance haptic interface

Published online by Cambridge University Press:  09 March 2009

R.E. Ellis ,
O.M. Ismaeil  and
M.G. Lipsett
R.E. Ellis
Affiliation:
Department of Computing and Information Science, Queen's University at Kingston, Ontario (Canada) K7L 3N6 Department of Mechanical Engineering, Queen's University at Kingston, Ontario (Canada) K7L 3N6.
O.M. Ismaeil
Affiliation:
Department of Computing and Information Science, Queen's University at Kingston, Ontario (Canada) K7L 3N6
M.G. Lipsett
Affiliation:
Department of Mechanical Engineering, Queen's University at Kingston, Ontario (Canada) K7L 3N6.
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Summary

A haptic interface is a computer-controlled mechanism designed to detect motion of a human operator without impeding that motion, and to feed back forces from a teleoperated robot or virtual environment. Design of such a device is not trivial, because of the many conflicting constraints the designer must face.

As part of our research into haptics, we have developed a prototype planar mechanism. It has low apparent mass and damping, high structural stiffness, high force bandwidth, high force dynamic range, and an absence of mechanical singularities within its workspace. We present an analysis of the human-operator and mechanical constraints that apply to any such device, and propose methods for the evaluation of haptic interfaces. Our evaluation criteria are derived from the original task analysis, and are a first step towards a replicable methodology for comparing the performance of different devices.

Keywords

Haptic interfaceHigh performanceHuman operatorMechanical constraints
Type
Article
Information
Robotica , Volume 14 , Issue 3 , May 1996 , pp. 321 - 327
Copyright
Copyright © Cambridge University Press 1996

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