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Cartesian control of a cable-driven haptic mechanism

Otis Martin J.-D., Duchaine Vincent, Billette Greg, Perreault Simon, Gosselin Clément et Laurendeau Denis. (2010). Cartesian control of a cable-driven haptic mechanism. Dans Advances in Haptics. (p. 75-102). New York : InTech.

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URL officielle: http://www.intechopen.com/books/advances-in-haptic...

Résumé

Haptic devices operated through a communication network require a trade-off between the stability of the interaction and the quality of the haptic display. A haptic device must be designed to provide the best haptic display in order to reproduce the tactile sensation of virtual objects, rigid or soft, while ensuring a stable operation to guarantee user safety. The challenges are greater when considering a locomotion interface where a walker can produce large wrenches. A Cable-Driven Locomotion Interface, used as a peripheral in a virtual environment, is designed to address some of the aforementioned issues, since the use of cables as a mechanical transmission is known to provide many advantages such as low inertia, which is helpful in attaining high speeds and high accelerations, and the potential lengths of the cables can allow for large workspaces. Using this mechanism, a walker could navigate in a virtual environment with the aid of two haptic platforms (one for each foot) which can be regarded as two independent parallel robots constrained to six degrees of freedom and sharing a common workspace.

Type de document:Chapitre de livre
Date:2010
Lieu de publication:New York
Sujets:Sciences naturelles et génie > Génie > Génie mécanique
Département, module, service et unité de recherche:Départements et modules > Département des sciences appliquées
Éditeurs:Hosseini Zadeh, Mehrdad
Mots-clés:Haptic, human locomotion
Déposé le:26 avr. 2013 00:59
Dernière modification:26 avr. 2013 00:59
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