Title :
A screw geometry approach to a novel 5DOFs haptic interface design
Author :
Checcacci, Damaso ; Frisoli, Antonio ; Bergamasco, Massimo
Author_Institution :
PERCRO, Scuola Superiore S.Anna, Pisa, Italy
Abstract :
A novel 5DOFs haptic interface is presented. The system development is shown, starting from the kinematic synthesis of a class of translating parallel mechanisms. Then the static behavior of these systems is given, together with a geometric insight into their forces and singularity distribution. Finally, some ergonomic aspects are pointed out to select a final suitable solution
Keywords :
ergonomics; geometry; haptic interfaces; human factors; interactive systems; kinematics; telerobotics; 5DOFs haptic interface design; ergonomic aspects; geometric insight; kinematic synthesis; screw geometry approach; singularity distribution; static behavior; system development; translating parallel mechanisms; Application software; Drilling; Ergonomics; Fasteners; Force feedback; Geometry; Haptic interfaces; Robots; Surgery; Surges;
Conference_Titel :
Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on
Conference_Location :
Bordeaux, Paris
Print_ISBN :
0-7803-7222-0
DOI :
10.1109/ROMAN.2001.981896
