Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2000.11a
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- Pages.27-30
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- 2000
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- 2005-8446(pISSN)
Haptic Device For Haptic Interaction With Virtual Environment
가상환경과 촉감적 상호작용을 위한 햅틱 디바이스
Abstract
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.
Keywords
- virtual reality;
- haptic device;
- statically-balanced;
- human haptic system;
- closed kinematic chain;
- backdrive friction