제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

Optimized Design of a Planar Haptic Device Using Passive Actuators

  • Kim, Tae-Woo (Department of Mechanical Engineering, Korea University, Intelligent Robotics Research Center, KIST) ;
  • Cho, Chang-Hyun (Department of Mechanical Engineering, Korea University, Intelligent Robotics Research Center, KIST) ;
  • Kim, Mun-Sang (Intelligent Robotics Research Center, KIST) ;
  • Song, Jae-Bok (Department of Mechanical Engineering, Korea University)
  • 발행 : 2003.10.22
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초록

Passive Haptic Devices have more benefit than the active in Stability. But Apart from benefits, it shows poor performance in haptic display. The author proposed the passive FME(Force Manipulability Ellipsoid) which can graphically show force generating ability of a passive haptic device. In this paper, performance indexes for the force approximation and pseudo friction cone are obtained with the passive FME and an optimized planar device with the indexes is proposed. Based on the above theory, experiment is conducted.

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