ViSHaRD10, A Novel Hyper-Redundant Haptic Interface

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12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'04)

Chicago, Illinois, USA

March 27-March 28

ISBN: 0-7695-2112-6

	ASCII Text	x
	Marc Ueberle, Nico Mock, Martin Buss, "ViSHaRD10, A Novel Hyper-Redundant Haptic Interface," Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on, pp. 58-65, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'04), 2004.

	BibTex	x
	@article{ 10.1109/HAPTIC.2004.1287178, author = {Marc Ueberle and Nico Mock and Martin Buss}, title = {ViSHaRD10, A Novel Hyper-Redundant Haptic Interface}, journal ={Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on}, volume = {0}, year = {2004}, issn = {Pending}, pages = {58-65}, doi = {http://doi.ieeecomputersociety.org/10.1109/HAPTIC.2004.1287178}, publisher = {IEEE Computer Society}, address = {Los Alamitos, CA, USA}, }

	RefWorks Procite/RefMan/Endnote	x
	TY - CONF JO - Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on TI - ViSHaRD10, A Novel Hyper-Redundant Haptic Interface SN - Pending SP58 EP65 A1 - Marc Ueberle, A1 - Nico Mock, A1 - Martin Buss, PY - 2004 KW - null VL - 0 JA - Haptic Interfaces for Virtual Environment and Teleoperator Systems, International Symposium on ER -

Marc Ueberle, Technische Universität Berlin

Nico Mock, Technische Universität Berlin

Martin Buss, Technische Universität München

DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/HAPTIC.2004.1287178

This paper presents and discusses the design of a novel hyper-redundant haptic interface with 10 degrees-of-freedom (DOF). The use of additional joints allows a signigicantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved. Numerical simulations of standard methods for inverse kinematics resolution, namely pseudo inverse control and the projection of some side criterion on the nullspace of the Jacobian are compared and evaluated.

Citation:

Marc Ueberle, Nico Mock, Martin Buss, "ViSHaRD10, A Novel Hyper-Redundant Haptic Interface," haptics, pp.58-65, 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS'04), 2004

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