TY - GEN
T1 - Towards a mobile haptic interface for bimanual manipulations
AU - Peer, Angelika
AU - Komoguchi, Yuta
AU - Buss, Martin
PY - 2007
Y1 - 2007
N2 - The concept of a mobile haptic interface for bimanual manipulations in 6 d.o.f. is presented. The design of this mobile haptic interface is based on a modular system consisting of two components: two haptic interfaces and a mobile platform. This work 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. The design and control concepts of these new interfaces enable a decoupling of translational from rotational movements. Such a decoupling helps to simplify significantly the control algorithms which take care of the interaction between mobile platform and haptic interfaces. Evaluation results concerning the Cartesian position tracking performance and the impedance display fidelity provide an insight into the performance of the developed system.
AB - The concept of a mobile haptic interface for bimanual manipulations in 6 d.o.f. is presented. The design of this mobile haptic interface is based on a modular system consisting of two components: two haptic interfaces and a mobile platform. This work 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. The design and control concepts of these new interfaces enable a decoupling of translational from rotational movements. Such a decoupling helps to simplify significantly the control algorithms which take care of the interaction between mobile platform and haptic interfaces. Evaluation results concerning the Cartesian position tracking performance and the impedance display fidelity provide an insight into the performance of the developed system.
UR - http://www.scopus.com/inward/record.url?scp=51349102243&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399008
DO - 10.1109/IROS.2007.4399008
M3 - Conference contribution
AN - SCOPUS:51349102243
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 384
EP - 391
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -