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Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07)
A Novel Planar 3-DOF Hard-Soft Haptic Teleoperator
Tsukuba, Japan
March 22-March 24
ISBN: 0-7695-2738-8
ASCII Text
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G?oran A.V. Christiansson, Erik C. Fritz, "A Novel Planar 3-DOF Hard-Soft Haptic Teleoperator," World Haptics Conference, pp. 361-366, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), 2007.
 
 
BibTex
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@article{ 10.1109/WHC.2007.11,
author = {G?oran A.V. Christiansson and Erik C. Fritz},
title = {A Novel Planar 3-DOF Hard-Soft Haptic Teleoperator},
journal ={World Haptics Conference},
volume = {0},
year = {2007},
isbn = {0-7695-2738-8},
pages = {361-366},
doi = {http://doi.ieeecomputersociety.org/10.1109/WHC.2007.11},
publisher = {IEEE Computer Society},
address = {Los Alamitos, CA, USA},
}
 
 
RefWorks Procite/RefMan/Endnote
x 
 
TY - CONF
JO - World Haptics Conference
TI - A Novel Planar 3-DOF Hard-Soft Haptic Teleoperator
SN - 0-7695-2738-8
SP361
EP366
A1 - G?oran A.V. Christiansson,
A1 - Erik C. Fritz,
PY - 2007
KW - null
VL - 0
JA - World Haptics Conference
ER -
 
G?oran A.V. Christiansson, Delft University of Technology
Erik C. Fritz, Delft University of Technology
A novel planar 3-degree of freedom (dof) haptic teleoperator based on the ?hard-soft? principle is presented. The mechatronic concept of using a stiff master and a compliant slave has previously been shown to improve haptic teleoperation performance in 1-dof teleoperation, and the concept can now be experimentally verified for more realistic tasks. The master device consists of a stiff double-rhomb force-redundant parallel robot and the slave device is a serial robot with flexible joints. Identification experiments show that the teleoperation setup can achieve high stiffness (>1.5 N/mm) for the master side and low stiffness on the slave side (0.100 N/mm).
Citation:
G?oran A.V. Christiansson, Erik C. Fritz, "A Novel Planar 3-DOF Hard-Soft Haptic Teleoperator," whc, pp.361-366, Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), 2007
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