Haptic Device For Haptic Interaction With Virtual Environment

가상환경과 촉감적 상호작용을 위한 햅틱 디바이스

In this paper, we determine the design criteria of haptic device considering the human haptic system and determine the design specifications. We developed a new 2DOF haptic device based on the specifications. It has the wide workspace, statically-balanced, constant inertia matrix, well-conditioned Jacobian matrix and so on. There also is not singularity point within workspace of the device. We show that it has better performance than other 2DOF haptic device in the many aspects.