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
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;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723414
