7-DOF Haptic device and interface design

Date

2013-01-01

Author

Baser, Ozgur
Konukseven, Erhan İlhan

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This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

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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.

Subject Keywords

Visual feedback, Force feedback, Virtual reality, Haptic device design

URI

https://hdl.handle.net/11511/32940

Collections

Department of Mechanical Engineering, Article