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The Synthesis of Three Dimensional Haptic Textures: Geometry, Control, and Psychophysics pp 45–58Cite as

The Pantograph Mk-II: A Haptic Instrument

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Part of the book series: Springer Series on Touch and Haptic Systems ((SSTHS))

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 kinematically well conditioned. The results show that the system is capable of producing accurate tactile signals in theDC–400 Hz range and can resolve displacements of the order of 10 μm. Future improvements are discussed.

Reprinted from Gianni Campion, Qi Wang, and Vincent Hayward, “The Pantograph Mk-II: A Haptic Instrument.”Proc. IROS 2005, IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 723–728.

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Acknowledgements

Qi Wang and Gianni Campion thankprecarn Inc. for scholarships. The authors would also like to thank Hsin-Yun Yao for assistance inpcb design and manufacturing and Andrew Havens Gosline for insightful comments on an earlier draft of this paper.

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  1. Montreal, Canada

    Gianni Campion

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  1. Gianni Campion
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Correspondence to Gianni Campion .

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Campion, G. (2005). The Pantograph Mk-II: A Haptic Instrument. In: The Synthesis of Three Dimensional Haptic Textures: Geometry, Control, and Psychophysics. Springer Series on Touch and Haptic Systems. Springer, London. https://doi.org/10.1007/978-0-85729-576-7_3

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  • DOI: https://doi.org/10.1007/978-0-85729-576-7_3

  • Publisher Name: Springer, London

  • Print ISBN: 978-0-85729-575-0

  • Online ISBN: 978-0-85729-576-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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