Design and control concepts of a hyper redundant haptic interface for interaction with virtual environments

Ueberle, M., Mock, N., Peer, A., Michas, C. and Buss, M. (2004) Design and control concepts of a hyper redundant haptic interface for interaction with virtual environments. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Touch and Haptics, Sendai, Japan, 28 September - 2 October 2004. Available from: http://eprints.uwe.ac.uk/23903

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Abstract/Description

This paper discusses the design concept of a hyper-redundant haptic interface with 10 actuated degreesof- freedom (DOF). The kinematical redundancies allow a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved. Numerical studies comparing the performance of local redundancy optimisation techniques are presented. Besides a construction possibility for virtual environments based on methods for visual and haptic rendering is presented.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:hyper redundant, haptic interface, virtual environments, interaction
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:23903
Deposited By: Professor A. Peer
Deposited On:25 Sep 2014 09:32
Last Modified:12 Apr 2016 13:07

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