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Image processing based stiffness mapping of a haptic device
The widely accepted performance criteria of haptic devices, which are transparency and z-width, are affected by the stiffness characteristics of the haptic device’s mechanism. In addition indirect measurement of the handle ...
Development of an R-CUBE based general purpose haptic device system
A novel 6-Degree-of-Freedom (DoF) hybrid haptic device is presented in this paper. Hybrid mechanism consists of parallel kinematic structure, R-CUBE and a 3-DoF orientation mechanism. In our previous study, the original ...
Experimental evaluation of actuation and sensing capabilities of a haptic device
Haptic devices are used to increase the telepresence level by providing the sense of touch to the human operator. Simultaneously, they capture the targeted motion of the human operator to generate a motion demand for the ...
Structural compliance effects on the accuracy and safety of a R-CUBE haptic device
This paper addresses the contribution of structural compliance on stiffness and safety of a R-CUBE Haptic Device. Structural compliance is determined in several poses via FEM analysis and addressed by referring to local ...