Realization of a high-fidelity virtual world with a 6 d.o.f. haptic interface

Yuichi Tsumaki, Masahiro Kinami, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review

    1 Citation (Scopus)

    Abstract

    A 3 d.o.f modified Delta mechanism was used as a positioning subsystem and a five-bar orientation subsystem was developed. The compactness requirement was achieved using motors with harmonic drives and a compact six-axis force/torque sensor to compensate for the reduced backdrivability due to the high reduction ratio of these drives.

    Original languageEnglish
    Pages (from-to)367-369
    Number of pages3
    JournalAdvanced Robotics
    Volume14
    Issue number5
    DOIs
    Publication statusPublished - 2000 Jan 1

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Human-Computer Interaction
    • Hardware and Architecture
    • Computer Science Applications

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