Next Article in Journal
Physical Human Activity Recognition Using Wearable Sensors
Previous Article in Journal
Control and Guidance of Low-Cost Robots via Gesture Perception for Monitoring Activities in the Home
Article Menu

Export Article

Open AccessArticle
Sensors 2015, 15(12), 31293-31313;

Design and Calibration of a New 6 DOF Haptic Device

School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China
National Key Laboratory of Human Factors Engineering, China Astronaut Research and Training Center, Beijing 100094, China
Author to whom correspondence should be addressed.
Academic Editor: Manuela Vieira
Received: 11 September 2015 / Revised: 17 November 2015 / Accepted: 7 December 2015 / Published: 11 December 2015
(This article belongs to the Section Physical Sensors)
Full-Text   |   PDF [9444 KB, uploaded 11 December 2015]   |  


For many applications such as tele-operational robots and interactions with virtual environments, it is better to have performance with force feedback than without. Haptic devices are force reflecting interfaces. They can also track human hand positions simultaneously. A new 6 DOF (degree-of-freedom) haptic device was designed and calibrated in this study. It mainly contains a double parallel linkage, a rhombus linkage, a rotating mechanical structure and a grasping interface. Benefited from the unique design, it is a hybrid structure device with a large workspace and high output capability. Therefore, it is capable of multi-finger interactions. Moreover, with an adjustable base, operators can change different postures without interrupting haptic tasks. To investigate the performance regarding position tracking accuracy and static output forces, we conducted experiments on a three-dimensional electric sliding platform and a digital force gauge, respectively. Displacement errors and force errors are calculated and analyzed. To identify the capability and potential of the device, four application examples were programmed. View Full-Text
Keywords: haptic device; force feedback; position tracking; hybrid structure; calibration haptic device; force feedback; position tracking; hybrid structure; calibration

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

Share & Cite This Article

MDPI and ACS Style

Qin, H.; Song, A.; Liu, Y.; Jiang, G.; Zhou, B. Design and Calibration of a New 6 DOF Haptic Device. Sensors 2015, 15, 31293-31313.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top