DocumentCode
2651209
Title
The analysis of resolution for cable-driven haptic device
Author
Hu, Hao ; Zhang, Yuru ; Dai, Xiaowei ; Zhang, Yaojun
Author_Institution
State Key Lab. of Virtual Reality Technol. & Syst., BeiHang Univ., Beijing, China
fYear
2010
fDate
14-18 Dec. 2010
Firstpage
715
Lastpage
719
Abstract
Resolution is a key index in evaluating a haptic device. High resolution provides good performance for haptic device. In this paper, the resolution of iFeel6, a 6 degree of freedom (DOF) cable-driven haptic device, is analyzed. For the presented haptic device, the resolution is divided into translational resolution and rotational resolution. Each of them is defined in this paper. Then a method of calculating the resolution is proposed. Using the method, the resolution of iFeel6 is calculated and the result is presented.
Keywords
cables (electric); end effectors; haptic interfaces; performance evaluation; 6 degree of freedom cable driven haptic device; end effector; iFeel6; rotational resolution; translational resolution; Haptic interfaces; Indexes; Mechanical cables; Performance evaluation; Robots; Stability analysis; Virtual reality;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location
Tianjin
Print_ISBN
978-1-4244-9319-7
Type
conf
DOI
10.1109/ROBIO.2010.5723414
Filename
5723414
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