DocumentCode
2594162
Title
The Pantograph Mk-II: a haptic instrument
Author
Campion, Gianni ; Wang, Qi ; Hayward, Vincent
Author_Institution
Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
fYear
2005
fDate
2-6 Aug. 2005
Firstpage
193
Lastpage
198
Abstract
We describe the redesign and the performance evaluation of a high-performance haptic device system called the Pantograph. The device is based on a two degree-of-freedom parallel mechanism which was designed for optimized dynamic performance, but which also is well kinematically conditioned. The results show that the system is capable of producing accurate tactile signals in the DC-400 Hz range and can resolve displacements of the order of 10 μm. Future improvements are discussed.
Keywords
haptic interfaces; performance evaluation; 400 Hz; Pantograph Mk-II; degree-of-freedom parallel mechanism; haptic device system; haptic instrument; tactile signal; Force measurement; Force sensors; Haptic interfaces; Hardware; Instruments; Intelligent robots; Laboratories; Open source software; Shape; World Wide Web; Haptic Devices; Mechanism Conditioning; Parallel Mechanimsms; Performance Measures;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8912-3
Type
conf
DOI
10.1109/IROS.2005.1545066
Filename
1545066
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