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Machines 2016, 4(1), 8;

Design and Analysis of a Haptic Device Design for Large and Fast Movements

Centre for Engagement and Simulation Science, Imperial College London, Chelsea and Westminster Hospital, 369 Fulham Road, London SW10 9NH, UK
School of Systems Engineering, University of Reading, Reading RG6 6AY, UK
These authors contributed equally to this work.
Author to whom correspondence should be addressed.
Academic Editor: David Mba
Received: 30 November 2015 / Revised: 24 February 2016 / Accepted: 29 February 2016 / Published: 10 March 2016
(This article belongs to the Special Issue Mechanisms and Machinery for Haptic Interaction and Rendering)
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Haptic devices tend to be kept small as it is easier to achieve a large change of stiffness with a low associated apparent mass. If large movements are required there is a usually a reduction in the quality of the haptic sensations which can be displayed. The typical measure of haptic device performance is impedance-width (z-width) but this does not account for actuator saturation, usable workspace or the ability to do rapid movements. This paper presents the analysis and evaluation of a haptic device design, utilizing a variant of redundant kinematics, sometimes referred to as a macro-micro configuration, intended to allow large and fast movements without loss of impedance-width. A brief mathematical analysis of the design constraints is given and a prototype system is described where the effects of different elements of the control scheme can be examined to better understand the potential benefits and trade-offs in the design. Finally, the performance of the system is evaluated using a Fitts’ Law test and found to compare favourably with similar evaluations of smaller workspace devices. View Full-Text
Keywords: control theory; evaluation/methodology; theory and methods; user interfaces haptic I/O control theory; evaluation/methodology; theory and methods; user interfaces haptic I/O

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Barrow, A.; Harwin, W. Design and Analysis of a Haptic Device Design for Large and Fast Movements. Machines 2016, 4, 8.

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