Design and Calibration of a New 6 DOF Haptic Device

For many applications such as tele-operational robots and interactions with virtual environments, it is better to have performance with force feedback than without. Haptic devices are force reflecting interfaces. They can also track human hand positions simultaneously. A new 6 DOF (degree-of-freedom...

Full description

Bibliographic Details
Main Authors: Qin, Huanhuan, Song, Aiguo, Liu, Yuqing, Jiang, Guohua, Zhou, Bohe
Format: Online
Language:English
Published: MDPI 2015
Online Access:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4721777/
id pubmed-4721777
recordtype oai_dc
spelling pubmed-47217772016-01-26 Design and Calibration of a New 6 DOF Haptic Device Qin, Huanhuan Song, Aiguo Liu, Yuqing Jiang, Guohua Zhou, Bohe Article For many applications such as tele-operational robots and interactions with virtual environments, it is better to have performance with force feedback than without. Haptic devices are force reflecting interfaces. They can also track human hand positions simultaneously. A new 6 DOF (degree-of-freedom) haptic device was designed and calibrated in this study. It mainly contains a double parallel linkage, a rhombus linkage, a rotating mechanical structure and a grasping interface. Benefited from the unique design, it is a hybrid structure device with a large workspace and high output capability. Therefore, it is capable of multi-finger interactions. Moreover, with an adjustable base, operators can change different postures without interrupting haptic tasks. To investigate the performance regarding position tracking accuracy and static output forces, we conducted experiments on a three-dimensional electric sliding platform and a digital force gauge, respectively. Displacement errors and force errors are calculated and analyzed. To identify the capability and potential of the device, four application examples were programmed. MDPI 2015-12-11 /pmc/articles/PMC4721777/ /pubmed/26690449 http://dx.doi.org/10.3390/s151229857 Text en © 2015 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons by Attribution (CC-BY) license (http://creativecommons.org/licenses/by/4.0/).
repository_type Open Access Journal
institution_category Foreign Institution
institution US National Center for Biotechnology Information
building NCBI PubMed
collection Online Access
language English
format Online
author Qin, Huanhuan
Song, Aiguo
Liu, Yuqing
Jiang, Guohua
Zhou, Bohe
spellingShingle Qin, Huanhuan
Song, Aiguo
Liu, Yuqing
Jiang, Guohua
Zhou, Bohe
Design and Calibration of a New 6 DOF Haptic Device
author_facet Qin, Huanhuan
Song, Aiguo
Liu, Yuqing
Jiang, Guohua
Zhou, Bohe
author_sort Qin, Huanhuan
title Design and Calibration of a New 6 DOF Haptic Device
title_short Design and Calibration of a New 6 DOF Haptic Device
title_full Design and Calibration of a New 6 DOF Haptic Device
title_fullStr Design and Calibration of a New 6 DOF Haptic Device
title_full_unstemmed Design and Calibration of a New 6 DOF Haptic Device
title_sort design and calibration of a new 6 dof haptic device
description For many applications such as tele-operational robots and interactions with virtual environments, it is better to have performance with force feedback than without. Haptic devices are force reflecting interfaces. They can also track human hand positions simultaneously. A new 6 DOF (degree-of-freedom) haptic device was designed and calibrated in this study. It mainly contains a double parallel linkage, a rhombus linkage, a rotating mechanical structure and a grasping interface. Benefited from the unique design, it is a hybrid structure device with a large workspace and high output capability. Therefore, it is capable of multi-finger interactions. Moreover, with an adjustable base, operators can change different postures without interrupting haptic tasks. To investigate the performance regarding position tracking accuracy and static output forces, we conducted experiments on a three-dimensional electric sliding platform and a digital force gauge, respectively. Displacement errors and force errors are calculated and analyzed. To identify the capability and potential of the device, four application examples were programmed.
publisher MDPI
publishDate 2015
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4721777/
_version_ 1613526910843748352