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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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Published in: | Advanced robotics 2000-01, Vol.14 (5), p.367-369 |
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Main Authors: | , , |
Format: | Article |
Language: | English |
Subjects: | |
Citations: | Items that cite this one |
Online Access: | Get full text |
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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. |
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ISSN: | 0169-1864 1568-5535 |
DOI: | 10.1163/156855300741645 |