7-DOF Haptic device and interface design

Authors : Özgür BAŞER, Erhan İlhan KONUKSEVEN

Pages : 493-499

Doi:10.3906/elk-1110-52

View : 13 | Download : 10

Publication Date : 0000-00-00

Article Type : Research Paper

Abstract :In this study, the developed 7-DOF haptic device insert ignore into journalissuearticles values(HaP-7); and its virtual reality interface are presented. The design issues, design constraints, and alternative design configurations are discussed and the potential advantages of the HaP-7 are put forward. The kinematic model of the proposed device looks like a simplified human arm kinematic model. The redundant characteristic of the device provides larger workspace and allows for appropriate posture selection for the purposes of maximization of the rigidity, transparency and stability, while minimizing the inertia and power consumption in addition to the singularity and obstacle avoidance optimization.
Keywords : Haptic device design, virtual reality, force feedback, visual feedback