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
Link To Document :
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