This paper describes the mechanical and electrical design of a compact high fidelity desktop haptic interface that provides three-degree-of-freedom point-force interaction through a handheld pen-like stylus. The complete haptic device combines a spatial linkage, actuation, power amplification, and control electronics in a standalone package with a footprint similar to that of a notebook computer (33cm × 25cm × 10cm). The procedure used to design the statically balanced spatial linkage is explained and both an inexpensive lightweight plastic version and a high stiffness, high strength, aluminum and stainless steel version are presented. The theory and implementation of sinusoidal encoder interpolation and sinusoidal servo-motor commutation used to achieve high-fidelity haptic simulation is covered for two versions of electronic control hardware: custom hardware based on a digital signal processor (DSP) and an off-the-shelf design based on an embedded PC.
Design of a Spatial Linkage Haptic Interface
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Steger, JR, Chung, RM, Lin, K, & Kazerooni, H. "Design of a Spatial Linkage Haptic Interface." Proceedings of the ASME 2004 International Mechanical Engineering Congress and Exposition. Dynamic Systems and Control, Parts A and B. Anaheim, California, USA. November 13–19, 2004. pp. 1109-1121. ASME. https://doi.org/10.1115/IMECE2004-60060
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