A framework for haptic interface system: design and applications

Dae-Hyun Kim; Hoon Jung; Byung-Yun Jung; Han-Soo Choi

doi:10.1117/12.664701

2 May 2006 A framework for haptic interface system: design and applications

Dae-Hyun Kim, Hoon Jung, Byung-Yun Jung, Han-Soo Choi

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 60423C (2006) https://doi.org/10.1117/12.664701
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

In this work, important components for a high-fidelity system bandwidth are force reflecting device and that all the computations including contact determination and response computation have to be performed in less than a millisecond. This paper described a force-reflecting device and an embedded controller. The realized force-reflecting device is based on a novel serial type mechanical structure, and features compactness, high sustained output force capability, low friction, zero backlash, and enough workspace. The embedded controller reduced software computational load via main processor and simplifies hardware strictures by the time-division control. The device was integrated with existing dynamic simulation algorithms running separate workstation, so that objects can be manipulated in real time and the corresponding forces felt back by the operator.

Citation Download Citation

Dae-Hyun Kim, Hoon Jung, Byung-Yun Jung, and Han-Soo Choi "A framework for haptic interface system: design and applications", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60423C (2 May 2006); https://doi.org/10.1117/12.664701

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