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
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;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545066
