Optimal posture control for a 7 DOF haptic device based on power minimization

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 purposes can be considered either together or separately in order to determine optimal posture. The study in this paper is focused on optimal posture control of a 7 DOF haptic device based on power minimization. The designed haptic device has 4 DOF for positioning stage and 3 DOF for orientation stage.


7-DOF Haptic device and interface design
Baser, Ozgur; Konukseven, Erhan İlhan (2013-01-01)
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...
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GEDİK, NURAY; Kiraz, Ercan; Özden, Muhammet Yaşar (2013-01-01)
This study identified critical issues in the design of a blended learning environment by examining basic design considerations and implementation issues. Following a design-based research approach with the phenomenological tradition of qualitative research, the study investigated instructor experiences relating to the design, development, and implementation processes of a blended course. The results reveal that the design considerations centred on the pedagogical approach, course organization, materials pre...
An Efficient Fuzzy Fusion-Based Framework for Surveillance Applications in Wireless Multimedia Sensor Networks
Sert, Seyyit Alper; Yazıcı, Adnan; Coşar, Ahmet; Yilmazer, Cengiz (2014-08-08)
This study is focused on a new approach for addressing the trade-off between accuracy and energy-efficiency of Wireless Multimedia Sensor Networks. Although a number of previous studies have focused on various special topics in Wireless Multimedia Sensor Networks in detail, to best of our knowledge, none presents a fuzzy multi-modal data fusion system, which is light-weight and provides a high accuracy ratio. Especially, multi-modal data fusion targeting surveillance applications make it inevitable to work ...
Application and Modeling of a Magnetic WSN for Target Localization
Baghaee, Sajjad; GÜRBÜZ, SEVGİ ZÜBEYDE; Uysal, Elif (2013-04-12)
The aim of this study is modeling ferromagnetic targets for localization and identification of such objects by a wireless sensor network (WSN). MICAz motes were used for setting up a wireless sensor network utilizing a centralized tree-based system. The detection and tracking of ferromagnetic objects is an important application of WSNs. This research focuses on analyzing the sensing limitations of magnetic sensors via tests conducted on small-scale targets which are moving within a 30 cm radius around the s...
Mechanical brake design for passive haptic device
Yilmaz, Serter; Konukseven, Erhan İlhan; Gurocak, Hakan (2011-12-28)
This paper explores a new mechanical brake design to be used in order to limit the motion in low cost and high force passive haptic device design. The designed mechanical brake was inspired from the working principle of a coaster brake used in bicycles. The brake consists of conic surfaces actuated by a DC motor. A leaf spring is added to the system to detect the direction of the user movement. A 1-DOF haptic interface was developed to study virtual wall collisions. Two different prototypes were manufacture...
Citation Formats
O. Baser, E. İ. Konukseven, and R. T. Balkan, “Optimal posture control for a 7 DOF haptic device based on power minimization,” 2008, vol. 5024, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/54386.