Experimental evaluation of a 2DOF haptic device with four-state rotary programmable brakes

Author

Manoharan, Vinoth ; Tenzer, Yaroslav ; Baena, Ferdinando Rodriguez y

Author_Institution

Dept. of Biomech. Eng., Delft Univ. of Technol., Delft, Netherlands

fYear

2011

fDate

21-24 June 2011

Firstpage

125

Lastpage

130

Abstract

Safety is an important factor for human-machine interface devices. Brake actuated devices are potentially safer than those that rely on motors for force-feedback generation. However, manipulators using conventional frictional brakes do have limitations. This paper presents the experimental evaluation of a newly developed four-state rotary programmable brake in a 2DOF manipulator. The experimental results show improved performance compared to the results obtained when manipulators with conventional frictional brakes are used.

Keywords

brakes; control engineering computing; force feedback; haptic interfaces; human-robot interaction; manipulators; safety systems; 2DOF haptic device; 2DOF manipulator; brake actuated devices; experimental evaluation; force feedback generation; four state rotary programmable brakes; four-state rotary programmable brake; frictional brakes; human-machine interface devices; manipulators; Approximation methods; Force; Haptic interfaces; Kinematics; Manipulators; Springs; Torque; Programmable brake; brake actuated devices; part-locking devices; passive haptics; robotics;

fLanguage

English

Publisher

ieee

Conference_Titel

World Haptics Conference (WHC), 2011 IEEE

Conference_Location

Istanbul

Print_ISBN

978-1-4577-0299-0

Electronic_ISBN

978-1-4577-0297-6

Type

conf

DOI

10.1109/WHC.2011.5945473

Filename

5945473