Design of a 2-DoF Haptic Device for Motion Guidance-Reference-Cited by-同舟云学术

Design of a 2-DoF Haptic Device for Motion Guidance

Published:2022 Issue: Volume: Page:198-206
ISSN:0302-9743
Container-title:Haptics: Science, Technology, Applications
language:
Short-container-title:

Author:

Kuang Lisheng,Marchal Maud,Aggravi Marco,Giordano Paolo Robuffo,Pacchierotti Claudio

Abstract

AbstractWe present a 2-degrees-of-freedom (2-DoF) haptic device, which can be either used as a grounded or a hand-held device. It is composed of two platforms moving with respect to each other, actuated by two servomotors housed in one of structures. The device implements a rigid coupling mechanism between the two platforms, based on a three-legged 3-4R constrained parallel linkage, with the two servomotors actuating two of these legs. The device can apply position/kinesthetic haptic feedback to the user hand(s). This paper presents the device and its kinematics, together with a human subjects experiment where we evaluate its capabilities to provide meaningful directional information.

Publisher

Springer International Publishing

Link

https://link.springer.com/content/pdf/10.1007/978-3-031-06249-0_23

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