Optimal mechanical design of modular haptic devices

2011 ◽  
Author(s):  
Pablo Cerrada ◽  
Jose Brenosa ◽  
Ignacio Galiana ◽  
Javier Lopez ◽  
Manuel Ferre ◽  
...  
Keyword(s):  
Mechanical Design ◽  
Haptic Devices

scholarly journals Design and Testing of Two Haptic Devices Based on Reconfigurable 2R Joints

2021 ◽  
Vol 12 (1) ◽  
pp. 339
Author(s):  
Mykhailo Riabtsev ◽  
Victor Petuya ◽  
Mónica Urízar ◽  
Oscar Altuzarra
Keyword(s):  
Force Feedback ◽  
Mechanical Design ◽  
Experimental Testing ◽  
Feedback System ◽  
Experimental Setup ◽  
Haptic Devices ◽  
Selection Principles ◽  
Detailed Interpretation ◽  
System Nodes ◽  
Design And Testing

This paper presents the design and testing of two haptic devices, based on reconfigurable 2R joints: an active 2R spherical mechanism-based joint and a differential gear-based joint. Based on our previous works, in which the design and kinematic analysis of both reconfigurable joints were developed, the experimental setup and the various tasks intended to test the reconfigurability, precision, force feedback system and general performance, are presented herein. Two control modes for the haptic device operation are proposed and studied. The statistical analysis tools and their selection principles are described. The mechanical design of two experimental setups and the main elements are considered in detail. The Robot Operating System nodes and the topics that are used in the software component of the experimental setup are presented and explained. The experimental testing was carried out with a number of participants and the corresponding results were analyzed with the selected statistical tools. A detailed interpretation and discussion on of the results is provided.

A Mechatronics Approach to Safe, Stable Teleoperation in Medical Applications

2000 ◽  
Author(s):  
David Wang ◽  
Gilbert Lai ◽  
Carmen Caradima
Keyword(s):  
Virtual Reality ◽  
Time Delay ◽  
Control Strategy ◽  
Force Feedback ◽  
Mechanical Design ◽  
Medical Applications ◽  
Force Sensors ◽  
Haptic Devices

Abstract Currently, remote interactions between patient and surgeon/doctor are limited to visual and audio aspects only. The general objective of the research presented in this paper is to explore force feedback teleoperation to improve the doctor/surgeon’s abilities. A control strategy is proposed which transmits forces, does not need expensive force sensors, and can be shown to be always stable. This technique should work for all “linear” haptic devices. The mechatronics approach has been taken in the mechanical design of the haptic devices to ensure linearity. The work presented in this paper will focus on the interactions between two haptic devices: the Virtual Reality Mouse 1 (VR Mouse), and a 5-bar linkage robot. Time delay issues involved in the teleoperation will also be discussed. The technique proposed in this paper will result in a very inexpensive workstation for teleoperation applications.

scholarly journals Mechanical Design Optimization for Multi-Finger Haptic Devices Applied to Virtual Grasping Manipulation

2012 ◽  
Vol 58 (7-8) ◽  
pp. 431-443 ◽  
Author(s):  
Javier López ◽  
Jose Breñosa ◽  
Ignacio Galiana ◽  
Manuel Ferre ◽  
Antonio Giménez ◽  
...  
Keyword(s):  
Design Optimization ◽  
Mechanical Design ◽  
Haptic Devices ◽  
Virtual Grasping

Dynamics of Multibody Haptic Systems

2011 ◽  
Author(s):  
Sara Shayan Amin ◽  
Jo´zsef Ko¨vecses
Keyword(s):  
Mechanical Design ◽  
Performance Measure ◽  
Haptic Interface ◽  
Dynamic Equations ◽  
Design Parameters ◽  
Alternative Formulation ◽  
Haptic Interfaces ◽  
Single Degree Of Freedom ◽  
Essential Requirement ◽  
Haptic Devices

An essential requirement in haptics is accuracy and transparency of the haptic interface. Haptic devices are usually lightweight robotic systems with which a human operator interacts. In the current literature, dynamic analyses of haptic devices are limited to single degree-of-freedom (DoF) point mass models. In this paper, experimental and simulation studies are conducted to investigate the effects of mechanical design parameters on the performance of such devices. For this purpose two commonly used haptic devices were considered: a two-DoF PANTOGRAPH and a three-DoF PHANToM. The results show that dynamic coupling between the rendered (controlled) and free directions of motion can influence the desired performance. An alternative formulation is outlined in which dynamic behavior of a haptic interface is modeled as a multibody system. The dynamic equations are separated to two sets of equations associated with the rendered and admissible motions. Effects of time delay and discretization stemming from digital realization of the virtual environment can be analyzed using the rendered dynamic equations, while the equations associated with the admissible motions can serve as a basis for performance measure. This formulation can be efficiently used for the complex nonlinear dynamics and stability analyses of haptic interfaces and can provide essential details on the performance of these devices. Stability analysis of a two-DoF five-bar linkage is presented as an example using the proposed formulation.

The new CM-Series TEMs: integration of a five-axis motorized, fully computer-controlled goniometer

1993 ◽  
Vol 51 ◽  
pp. 258-259
Author(s):  
Marc J.C. de Jong ◽  
P. Emile S.J. Asselbergs ◽  
Max T. Otten
Keyword(s):  
Mechanical Design ◽  
Computer Control ◽  
Objective Lens ◽  
Access Port ◽  
Vibration Stability ◽  
Transmission Electron ◽  
Computer Controlled ◽  
High Degree ◽  
Five Axis ◽  
Five Axes

A new step forward in Transmission Electron Microscopy has been made with the introduction of the CompuStage on the CM-series TEMs: CM120, CM200, CM200 FEG and CM300. This new goniometer has motorization on five axes (X, Y, Z, α, β), all under full computer control by a dedicated microprocessor that is in communication with the main CM processor. Positions on all five axes are read out directly - not via a system counting motor revolutions - thereby providing a high degree of accuracy. The CompuStage enters the octagonal block around the specimen through a single port, allowing the specimen stage to float freely in the vacuum between the objective-lens pole pieces, thereby improving vibration stability and freeing up one access port. Improvements in the mechanical design ensure higher stability with regard to vibration and drift. During stage movement the holder O-ring no longer slides, providing higher drift stability and positioning accuracy as well as better vacuum.

Saving and Reproduction of Human Motion Data by Using Haptic Devices with Different Configurations

2011 ◽  
Vol 131 (3) ◽  
pp. 267-274 ◽  
Author(s):  
Noboru Tsunashima ◽  
Yuki Yokokura ◽  
Seiichiro Katsura
Keyword(s):  
Human Motion ◽  
Haptic Devices ◽  
Motion Data

Design of a Human Knee Reeducation Mechanism

2019 ◽  
Vol 11 (1) ◽  
pp. 42-53
Author(s):  
Allaoua Brahmia ◽  
Ridha Kelaiaia
Keyword(s):  
Lower Limb ◽  
Mechanical Design ◽  
Kinematic Chain ◽  
Lower Limbs ◽  
Kinematic Structure ◽  
Robotic Device ◽  
Human Knee ◽  
Kinematic Study ◽  
Rehabilitation Exercise ◽  
New Machine

Abstract To establish an exercise in open muscular chain rehabilitation (OMC), it is necessary to choose the type of kinematic chain of the mechanical / biomechanical system that constitutes the lower limbs in interaction with the robotic device. Indeed, it’s accepted in biomechanics that a rehabilitation exercise in OMC of the lower limb is performed with a fixed hip and a free foot. Based on these findings, a kinematic structure of a new machine, named Reeduc-Knee, is proposed, and a mechanical design is carried out. The contribution of this work is not limited to the mechanical design of the Reeduc-Knee system. Indeed, to define the minimum parameterizing defining the configuration of the device relative to an absolute reference, a geometric and kinematic study is presented.

Mechanical Design of a Low Cost Transhumeral Prosthesis

2017 ◽  
Author(s):  
Luis Arturo Gómez Malagón ◽  
João Luiz Vilar Dias
Keyword(s):  
Mechanical Design ◽  
Low Cost

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

Sign in / Sign up

Export Citation Format

Share Document