{"title":"Haptic Interface for Virtual Reality based on Hybrid Cable-Driven Parallel Robot","authors":"Bastien Poitrimol, H. Igarashi","doi":"10.1109/AMC44022.2020.9244444","DOIUrl":null,"url":null,"abstract":"Cable haptic devices can display forces while keeping a low intrusiveness. However, serious cable interferences can appear when serveral end-effectors or a high number of cables are required. The motivation behind this work is to propose a method to reduce the number of cables and enlarge the statics workspace while ensuring an appropriate force display through the cables. A hybrid n+1 planar cable haptic device architecture based on SPIDAR which includes a linear actuator is introduced in this paper. The process to design a small sized planar interface, as well as the kinematics model we used are detailed here. A sensorless force computation method is proposed and the haptic display results are presented.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC44022.2020.9244444","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
Cable haptic devices can display forces while keeping a low intrusiveness. However, serious cable interferences can appear when serveral end-effectors or a high number of cables are required. The motivation behind this work is to propose a method to reduce the number of cables and enlarge the statics workspace while ensuring an appropriate force display through the cables. A hybrid n+1 planar cable haptic device architecture based on SPIDAR which includes a linear actuator is introduced in this paper. The process to design a small sized planar interface, as well as the kinematics model we used are detailed here. A sensorless force computation method is proposed and the haptic display results are presented.