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The PHANToM Haptic Interface: A Device for Probing Virtual Objects
- Publisher
- Emerald Publishing
- Copyright
- Copyright © 2004 Emerald Group Publishing Limited. All rights reserved.
- ISSN
- 0260-2288
- DOI
- 10.1108/02602280410515815
- Publisher site
- See Article on Publisher Site
Abstract
This paper analyzes the design of a force‐based impedance control for a haptic interface system characterized by a parallel kinematics. By exploiting the features of parallel mechanisms, which perform better than the serial ones in terms of dynamic performance, stiffness and position accuracy, and by implementing a closed‐loop force control, the transparency of a haptic master system and the fidelity of resultant force feedback can be consistently improved. Issues for design and control as well as aspects of performance evaluation of haptic interfaces are treated within the paper and some results of the experimental characterization of a haptic interface are presented.
Journal
Sensor Review – Emerald Publishing
Published: Mar 1, 2004
Keywords: Sensors; Force measurement; Impedance voltage; Medical appliances