The Pantograph Mk-II: A Haptic Instrument

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


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.


Inverse Kinematic Haptic Device Torque Ripple Haptic Interface Haptic Rendering 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



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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Copyright information

© IEEE 2005

Authors and Affiliations

  1. 1.MontrealCanada

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