Isotropy and Actuator Optimization in Haptic Interface Design

A haptic interface controlled in impedance mode should present its user with a uniform force capability matching the human hand. This paper reviews a mechanism design methodology that maximizes a workspace-inclusive isotropy index. Force maximization in coreless or voice-coil motors is also considered in order to maximize haptic interface acceleration. Example designs of a planar 3-DOF haptic mouse, a 5-DOF haptic pen and a MagLev joystick are presented.

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: S. E. Salcudean, Leo J. Stocco
• Keywords: 3-DOF Haptic Mouse, Haptic Interface, Haptic Interface Acceleration, ICRA 2000, Robotics