Abstract
Haptic devices are used to increase the telepresence level by providing the sense of touch to the human operator. Simultaneously, they capture the targeted motion of the human operator to generate a motion demand for the teleoperated slave system. Considering a scenario where the slave system’s end-effector is handled by the human operator at the master side, which is attached to the haptic device, an ideal haptic interaction involves the feeling of only the end-effector dynamics and the accurate sensation of the end-effector pose. The performance of a haptic device is based on these two functionalities. In this paper, the experimental evaluation of the actuation and sensing capabilities of a haptic device, HIPHAD v1.0 kinesthetic haptic device, is presented.
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Acknowledgments
This work is supported in part by The Scientific and Technological Research Council of Turkey via grant number 117M405.
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Mobedi, E., Görgülü, İ., Dede, M.I.C. (2019). Experimental Evaluation of Actuation and Sensing Capabilities of a Haptic Device. In: Corves, B., Wenger, P., Hüsing, M. (eds) EuCoMeS 2018 . EuCoMeS 2018. Mechanisms and Machine Science, vol 59. Springer, Cham. https://doi.org/10.1007/978-3-319-98020-1_16
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DOI: https://doi.org/10.1007/978-3-319-98020-1_16
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