Haptic Interface for Virtual Reality based on Hybrid Cable-Driven Parallel Robot

被引：0
|
作者：
Poitrimol, Bastien [1 ]
Igarashi, Hiroshi [1 ]
机构：
[1] Tokyo Denki Univ, Dept Elect & Elect Engn, Adachi Ku, 5 Senju Asahi Cho, Tokyo 1208551, Japan
来源：
2020 IEEE 16TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL (AMC) | 2020年
关键词：
D O I：
10.1109/amc44022.2020.9244444
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Cable haptic devices can display forces while keeping a low intrusiveness. However, serious cable interferences can appear when serveral end-effectors or a high number of cables are required. The motivation behind this work is to propose a method to reduce the number of cables and enlarge the statics workspace while ensuring an appropriate force display through the cables. A hybrid n+1 planar cable haptic device architecture based on SPIDAR which includes a linear actuator is introduced in this paper. The process to design a small sized planar interface, as well as the kinematics model we used are detailed here. A sensorless force computation method is proposed and the haptic display results are presented.
引用
收藏
页码：351 / 356
页数：6
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