7-DOF Haptic device and interface design

Baser O., KONUKSEVEN E. İ.

TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES, cilt.21, sa.2, ss.493-499, 2013 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 21 Sayı: 2
  • Basım Tarihi: 2013
  • Doi Numarası: 10.3906/elk-1110-52
  • Dergi Adı: TURKISH JOURNAL OF ELECTRICAL ENGINEERING AND COMPUTER SCIENCES
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, TR DİZİN (ULAKBİM)
  • Sayfa Sayıları: ss.493-499
  • Anahtar Kelimeler: Haptic device design, virtual reality, force feedback, visual feedback
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

In this study, the developed 7-DOF haptic device (HaP-7) and its virtual reality interface are presented. The design issues, design constraints, and alternative design configurations are discussed and the potential advantages of the HaP-7 are put forward. The kinematic model of the proposed device looks like a simplified human arm kinematic model. The redundant characteristic of the device provides larger workspace and allows for appropriate posture selection for the purposes of maximization of the rigidity, transparency and stability, while minimizing the inertia and power consumption in addition to the singularity and obstacle avoidance optimization.