In the article, a first stage implementation of a haptic device towards a complete 3-D workspace twisted-string actuated haptic interface is discussed. In the present work, a 2-D setup is presented, with the aim of preliminarly testing the behaviour of this novel haptic system, especially with respect to the adopted cable-based actuation solution. In particular, the component descriptions, kinematics of the planar device and the controller for teleoperation purposes are illustrated. Results regarding the behaviour of the system in rendering a virtual environment and in a robot teleoperation scenario with haptic force feedback are reported. The experimental outcomes show that the designed and implemented system is suitable for teleoperation with haptic interfaces, providing positive perspectives for the realization of the fully functional 3-D haptic interface in the future work.

Towards a Twisted String Actuated Haptic Device: Experimental Testing of a 2-D Virtual Environment and Teleoperation Interface

Scarcia U.;Zanella R.;Meattini R.;Chiaravalli D.;Palli G.;Melchiorri C.
2021

Abstract

In the article, a first stage implementation of a haptic device towards a complete 3-D workspace twisted-string actuated haptic interface is discussed. In the present work, a 2-D setup is presented, with the aim of preliminarly testing the behaviour of this novel haptic system, especially with respect to the adopted cable-based actuation solution. In particular, the component descriptions, kinematics of the planar device and the controller for teleoperation purposes are illustrated. Results regarding the behaviour of the system in rendering a virtual environment and in a robot teleoperation scenario with haptic force feedback are reported. The experimental outcomes show that the designed and implemented system is suitable for teleoperation with haptic interfaces, providing positive perspectives for the realization of the fully functional 3-D haptic interface in the future work.
2021 20th International Conference on Advanced Robotics, ICAR 2021
757
762
Feenstra L.; Scarcia U.; Zanella R.; Meattini R.; Chiaravalli D.; Palli G.; Melchiorri C.
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/874158
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