TY - GEN
T1 - VISHARD10, a novel hyper-redundant haptic interface
AU - Ueberle, Marc
AU - Mock, Nico
AU - Buss, Martin
PY - 2004
Y1 - 2004
N2 - This paper presents and discusses the design of a novel hyper-redundant haptic interface with 10 degrees-of-freedom (DOF). The use of additional joints allows a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved. Numerical simulations of standard methods for inverse kinematics resolution, namely pseudo inverse control and the projection of some side criterion on the nullspace of the Jacobian are compared and evaluated.
AB - This paper presents and discusses the design of a novel hyper-redundant haptic interface with 10 degrees-of-freedom (DOF). The use of additional joints allows a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved. Numerical simulations of standard methods for inverse kinematics resolution, namely pseudo inverse control and the projection of some side criterion on the nullspace of the Jacobian are compared and evaluated.
UR - http://www.scopus.com/inward/record.url?scp=2942674720&partnerID=8YFLogxK
U2 - 10.1109/HAPTIC.2004.1287178
DO - 10.1109/HAPTIC.2004.1287178
M3 - Conference contribution
AN - SCOPUS:2942674720
SN - 0769521126
SN - 9780769521121
T3 - Proceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS
SP - 58
EP - 65
BT - Proceedings of the 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2004
T2 - Proceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS 2004
Y2 - 27 March 2004 through 28 March 2004
ER -