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Design and Evaluation of a High-Performance Haptic Interface

Summary: Design and Evaluation of a
High-Performance Haptic Interface
R. E. Ellis

O. M. Ismaeil

M. G. Lipsett

Department of Computing and Information Science

Department of Mechanical Engineering
Queen's University at Kingston, Ontario, Canada K7L 3N6
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


Source: Abolmaesumi, Purang - School of Computing, Queen's University (Kingston)


Collections: Computer Technologies and Information Sciences