Abstract
In this paper, we describe the design of a wire-driven haptic device. One of the problems of wire-driven haptic devices is that peak force feedback are different by directions. If we solve this problem, we will be able to consider the design of wire-driven haptic device by minimal actuator output. Using min-max method, we sought the optimal geometric structure for omnidirectional isotropic peak force feedback and made a prototype according to it.
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Notes
- 1.
Peak force: the largest force the end effector (hereinafter referred to as grip) of haptic device can exert on user.
References
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© 2015 Springer Japan
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Ji, Y., Tajima, H., Akahane, K., Sato, M. (2015). Proposal of 6 DoF Haptic Interface SPIDAR-I Optimized by Minimizing Margin of Peak Force. In: Kajimoto, H., Ando, H., Kyung, KU. (eds) Haptic Interaction. Lecture Notes in Electrical Engineering, vol 277. Springer, Tokyo. https://doi.org/10.1007/978-4-431-55690-9_31
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DOI: https://doi.org/10.1007/978-4-431-55690-9_31
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