The dynamics and control of a haptic interface device

Journal Article · Mon Aug 01 00:00:00 EDT 1994 · IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States)

DOI:https://doi.org/10.1109/70.313096· OSTI ID:6884823

Kazerooni, H ^[1]; Her, M G ^[2]

---

1. Univ. of California, Berkeley, CA (United States). Mechanical Engineering Dept.
2. Tatung Inst. of Technology, Taipei (Taiwan, Province of China). Dept. of Mechanical Engineering

Haptic Interface Devices are machines that are controlled by the human arm contact forces. These devices are necessary elements of virtual reality machines. These devices may be programmed to give the human arm the sensation of forces associated with various arbitrary maneuvers. As examples, these devices can give the human the sensation that he/she is maneuvering a mass, or pushing onto a spring or a damper. In general, these devices may be programmed for any trajectory-dependant force. To illustrate and verify the analysis of these machines, a two-degree-of-freedom electrically-powered haptic interface device was designed and built at the Human Engineering Laboratory (HEL) of the University of California-Berkeley.

• OSTI ID: 6884823
• Journal Information: IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States), Vol. 10:4; ISSN 1042-296X
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
MAN-MACHINE SYSTEMS
MANIPULATORS
ROBOTS
RESEARCH PROGRAMS
ARMS
REMOTE HANDLING
BODY
BODY AREAS
EQUIPMENT
LABORATORY EQUIPMENT
LIMBS
MATERIALS HANDLING EQUIPMENT
REMOTE HANDLING EQUIPMENT
420200* - Engineering- Facilities
Equipment
& Techniques