DentalTouch: A haptic display with high stiffness and low inertia
2017 IEEE World Haptics Conference (WHC)(2017)
摘要
Designing haptic devices with both high stiffness and low inertia is challenging. In this paper, we propose a solution to overcome the difficulty. We present a new haptic device named DentalTouch for dental simulation. Combining parallel and serial mechanisms, the DentalTouch can render 3-dimentional forces and 6 degree-of-freedom (DOF) motions. We describe how to achieve high stiffness and low inertia in the DentalTouch by using co-actuation method recently developed by our group. We evaluate the stiffness and inertia performance of a DentalTouch prototype through analytical and experimental approaches. The results show that the combined structural and motor control stiffness of the prototype is within the range of 21-69 N/mm and the inertia ranges from 113 to 163 g in task workspace, which demonstrates that the DentalTouch has a potential to provide a high stiffness and low inertia.
更多查看译文
关键词
DentalTouch,haptic display,haptic device design,low inertia devices,dental simulation,parallel mechanisms,serial mechanisms,3-dimentional force rendering,6 degree-of-freedom motions,6 DOF motions,coactuation method,stiffness evaluation,inertia performance,structural stiffness,motor control stiffness
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要