Design, Control, and Evaluation of a Hyper-redundant Haptic Device

  • Marc Ueberle
  • Nico Mock
  • Martin Buss
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 31)


The design and control concept of a serial hyper-redundant haptic interface with 10 actuated degrees-of-freedom (DOF) is discussed. The main motivation for the redundant DOF is the avoidance of interior singularities to increase the workspace while reducing the overall device size. Furthermore, the wrist singularities are eliminated resulting in an orientation workspace of 360° around each axis. Hardware experiments evaluating the closed loop performance and the capability of the inverse kinematics solution to avoid singular configurations confirm the applicability of the proposed design and control concept for human haptic interaction.


Inverse Kinematic Revolute Joint Haptic Device Prismatic Joint Haptic Interface 
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.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Marc Ueberle
    • 1
  • Nico Mock
    • 2
  • Martin Buss
    • 1
  1. 1.Institute of Automatic Control Engineering (LSR)Technische Universität MünchenMunichGermany
  2. 2.Institut für Elektrische EnergietechnikTechnische Universität BerlinBerlinGermany

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