TY - JOUR
T1 - A new admittance-type haptic interface for bimanual manipulations
AU - Peer, Angelika
AU - Buss, Martin
N1 - Funding Information:
Manuscript received May 25, 2007; revised November 7, 2007. Published August 13, 2008 (projected). Recommended by Technical Editor H. Hashimoto. This work was supported in part by the German Research Foundation (DFG) within the collaborative research center SFB453 “High-Fidelity Telepresence and Teleaction”.
PY - 2008
Y1 - 2008
N2 - The concept of a new mobile haptic interface for bimanual manipulations in 6 DOFs is presented. The design of this mobile haptic interface is based on a modular system consisting of two components: two admittance-type haptic interfaces and a mobile platform. While the haptic interfaces cover only parts of the human arm workspace, the mobile platform extends these to arbitrarily wide remote environments. This paper mainly addresses the design and control concepts of the haptic interfaces, which are planned to be mounted on the mobile platform. The interfaces dispose of a large workspace and a high force/ torque capability. A special design and control concept of the haptic interfaces makes it possible to decouple translational from rotational movements. This decoupling helps to significantly simplify the control algorithms that handle the interaction between the single components. Evaluation results concerning the Cartesian position tracking performance and the impedance display fidelity are provided. In addition, the following performance measures are analyzed: Dextrous workspace, output capability, and backdrivability. In order to reduce the measurement effort, some of these measures are determined by model-based, others by measurement-based performance evaluation.
AB - The concept of a new mobile haptic interface for bimanual manipulations in 6 DOFs is presented. The design of this mobile haptic interface is based on a modular system consisting of two components: two admittance-type haptic interfaces and a mobile platform. While the haptic interfaces cover only parts of the human arm workspace, the mobile platform extends these to arbitrarily wide remote environments. This paper mainly addresses the design and control concepts of the haptic interfaces, which are planned to be mounted on the mobile platform. The interfaces dispose of a large workspace and a high force/ torque capability. A special design and control concept of the haptic interfaces makes it possible to decouple translational from rotational movements. This decoupling helps to significantly simplify the control algorithms that handle the interaction between the single components. Evaluation results concerning the Cartesian position tracking performance and the impedance display fidelity are provided. In addition, the following performance measures are analyzed: Dextrous workspace, output capability, and backdrivability. In order to reduce the measurement effort, some of these measures are determined by model-based, others by measurement-based performance evaluation.
KW - Inverse kinematics
KW - Mobile haptic interface
KW - Performance evaluation
UR - http://www.scopus.com/inward/record.url?scp=54749089271&partnerID=8YFLogxK
U2 - 10.1109/TMECH.2008.2001690
DO - 10.1109/TMECH.2008.2001690
M3 - Article
AN - SCOPUS:54749089271
SN - 1083-4435
VL - 13
SP - 416
EP - 428
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 4
ER -