A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 5 Issue 1
Jan.  2018

IEEE/CAA Journal of Automatica Sinica

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Article Contents
Jian-Long Hao, Xiao-Liang Xie, Gui-Bin Bian, Zeng-Guang Hou and Xiao-Hu Zhou, "Development and Evaluation of a 7-DOF Haptic Interface," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 261-269, Jan. 2018. doi: 10.1109/JAS.2017.7510769
Citation: Jian-Long Hao, Xiao-Liang Xie, Gui-Bin Bian, Zeng-Guang Hou and Xiao-Hu Zhou, "Development and Evaluation of a 7-DOF Haptic Interface," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 261-269, Jan. 2018. doi: 10.1109/JAS.2017.7510769

Development and Evaluation of a 7-DOF Haptic Interface

doi: 10.1109/JAS.2017.7510769
Funds:

the National Natural Science Foundation (NNSF) of China 61533016

the National Natural Science Foundation (NNSF) of China 61533016, U1613210

the National High-tech Research and Development Program (863 Program) of China 2015AA042306

the Beijing Natural Science Foundation 4161001

More Information
  • With the development of human robot interaction technologies, haptic interfaces are widely used for 3D applications to provide the sense of touch. These interfaces have been utilized in medical simulation, virtual assembly and remote manipulation tasks. However, haptic interface design and control are still critical problems to reproduce the highly sensitive touch sense of humans. This paper presents the development and evaluation of a 7-DOF (degree of freedom) haptic interface based on the modified delta mechanism. Firstly, both kinematics and dynamics of the modified mechanism are analyzed and presented. A novel gravity compensation algorithm based on the physical model is proposed and validated in simulation. A haptic controller is proposed based on the forward kinematics and the gravity compensation algorithm. To evaluate the control performance of the haptic interface, a prototype has been implemented. Three kinds of experiments:gravity compensation, static response and force tracking are performed respectively. The experimental results show that the mean error of the gravity compensation is less than 0.7 N and the maximum continuous force along the axis can be up to 6 N. This demonstrates the good performance of the proposed haptic interface.

     

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