7-DOF Haptic device and interface design

In this study, the developed 7-DOF haptic device (HaP-7) and its virtual reality interface are presented. The design issues, design constraints, and alternative design configurations are discussed and the potential advantages of the HaP-7 are put forward. The kinematic model of the proposed device looks like a simplified human arm kinematic model. The redundant characteristic of the device provides larger workspace and allows for appropriate posture selection for the purposes of maximization of the rigidity, transparency and stability, while minimizing the inertia and power consumption in addition to the singularity and obstacle avoidance optimization.


Architectural Design in Virtual Reality and Mixed Reality Environments: A Comparative Analysis
Ergün, Oğuzcan; Akın, Şahin; Gürsel Dino, İpek; Sürer, Elif (2019-01-01)
Virtual reality (VR) provides a completely digital world of interaction which enables the users to modify, edit, and transform digital elements in a responsive way. Mixed reality (MR), which is the result of blending the digital world and the physical world together, brings new advancements and challenges to human, computer and environment interactions. This paper focuses on adapting the already-existing methods and tools in architecture to both VR and MR environments under sustainable architectural design ...
Optimal posture control for a 7 DOF haptic device based on power minimization
Baser, Ozgur; Konukseven, Erhan İlhan; Balkan, Raif Tuna (2008-06-13)
The aim of this study is to put forward potential advantages of redundant haptic devices. The use of redundancy in haptic devices basically piovides a larger workspace without changing kinematics parameters such as joint variables, joint offsets, effective link lengths and twist angles. Besides an increase in the workspace, redundant manipulators allow appropriate posture selection for different purposes, such as singularity avoidance, obstacle avoidance, inertia minimization, power minimization. These purp...
Developing building information modelling based virtual reality and mixed reality environments for architectural design and improving user interactions with serious games
Ergün, Oğuzcan.; Sürer, Elif; Department of Modeling and Simulation (2019)
Virtual Reality (VR) provides an interactive experience for its users in a fully artificial computer-simulated environment while Mixed Reality (MR) forms environments by mixing the real world and the virtual world elements together. In the first part of this thesis, an architectural visualization and design tool, which is based on Building Information Modeling (BIM), is developed for VR, MR and personal computer (PC) environments. BIM provides detailed information and tools to professionals so that they can...
Optimum Design of 6R Passive Haptic Robotic Arm for Implant Surgery
Yılmaz, Serkan; Konukseven, Erhan İlhan (2010-07-10)
The aim of this research was to design an optimum 6R passive haptic robotic arm (PHRA) to work in a limited workspace during dental implant surgery. Misplacement of an implant during dental surgery causes longer recuperation periods and functional disorders. In this study, a passive guidance robot arm was designed as a surgical aid tool for a dentist during the operation to reduce the surgical complications. Optimum design of a 6R robot is a complex issue since minimum energy has to be consumed while maximu...
Usability of virtual reality for basic design education: a comparative study with paper-based design
Özgen, Dilay Seda; Afacan, Yasemin; Sürer, Elif (SPRINGER, VAN GODEWIJCKSTRAAT 30, 3311 GZ DORDRECHT, NETHERLANDS, 2019-11)
Virtual reality (VR) is an emerging technology that is being used in a wide range of fields such as medicine, gaming, psychology and sociology. The use of VR is promising in the field of education and requires investigation, but research on the use of VR in education is still limited. This enables the exploration of new territories, and design education is one of them. Design education, an important part of the curriculum of architecture students who aim to conceptualize problem-solving, is still taught usi...
Citation Formats
O. Baser and E. İ. Konukseven, “7-DOF Haptic device and interface design,” TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, pp. 493–499, 2013, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/32940.