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Realization of a high-fidelity virtual world with a 6 d.o.f. haptic interface

A 3 d.o.f modified Delta mechanism was used as a positioning subsystem and a five-bar orientation subsystem was developed. The compactness requirement was achieved using motors with harmonic drives and a compact six-axis force/torque sensor to compensate for the reduced backdrivability due to the hi...

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Bibliographic Details
Published in:Advanced robotics 2000-01, Vol.14 (5), p.367-369
Main Authors: Tsumaki, Yuichi, Kinami, Masahiro, Uchiyama, Masaru
Format: Article
Language:English
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Summary:A 3 d.o.f modified Delta mechanism was used as a positioning subsystem and a five-bar orientation subsystem was developed. The compactness requirement was achieved using motors with harmonic drives and a compact six-axis force/torque sensor to compensate for the reduced backdrivability due to the high reduction ratio of these drives.
ISSN:0169-1864
1568-5535
DOI:10.1163/156855300741645