A critical study of the mechanical and electrical properties of the PHANToM haptic interface and improvements for high-performance control

Presence: Teleoperators and Virtual Environments

Volumn 11, Issue 6, 2002, Pages 555-568

  Çavuşoǧlu, Murat Cenk ^a   Feygin, David ^b   Tendick, Frank ^c  

^a Case Western Reserve University   (United States)

^b UNIVERSITY OF CALIFORNIA   (United States)

^c UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

VIRTUAL WALL STIFFNESS;

BANDWIDTH; DYNAMIC RESPONSE; DYNAMICS; ELECTRIC PROPERTIES; KINEMATICS; PERFORMANCE;

HAPTIC INTERFACES;

EID: 0036949364     PISSN: 10547460     EISSN: None     Source Type: Journal    
DOI: 10.1162/105474602321050695     Document Type: Article

References (11)

1. Çavu̧soǧlu, M. C., & Feygin, D. (2001). Kinematics and dynamics of PHANToM(TM) model 1.5 haptic interface. University of California at Berkeley, Electronics Research Laboratory memo M01/15.
2. Çavuşoǧlu, M. C., Sherman, A., & Tendick, F. (2002). Design of bilateral teleoperation controllers for haptic exploration and telemanipulation of soft environments. IEEE Transactions on Robotics and Automation, 18(4) (to appear).
3. Çavuşoǧlu, M. C., & Tendick, F. (2000). Multirate simulation for high fidelity haptic interaction with deformable objects in virtual environments. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2000), 2458-2465.
4. Craig, J. J. (1989). Introduction to robotics (2nd ed.). Reading, MA: Addison-Wesley.
5. Dhruv, N., & Tendick, F. (2000). Frequency dependence of compliance contrast detection. Proceedings of the Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Part of the ASME Inte'l Mechanical Engineering Congress and Exposition (IMECE 2000), DSC 69-2, 1087-1093.
6. Feygin, D., Keehner, M., & Tendick, F. (2002). Haptic guidance: Experimental evaluation of a haptic training method for a perceptual motor skill. Proceedings of the 10th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2002), 40-47.
7. Lemkin, M., Yang, P. H., Huang, A. C., Jones, J., & Auslander, D. M. (1995). Velocity estimation from widely spaced encoder pulses. Proceedings of the American Control Conference, 1, 998-1002.
8. Massie, T. H., & Salisbury, J. K. (1994). The PHANToM haptic interface: A device for probing virtual objects. Proceedings of the ASME Winter Annual Meeting, Symposium on Haptie Interfaces for Virtual Environment and Teleoperator Systems, 295-302.
9. Murray, R. M., Li, Z., & Sastry, S. S. (1994). A mathematical introduction to robotic manipulation. Boca Raton, FL: CRC Press, Inc.
10. SensAble Technologies, Inc. (1997). PHANToM haptic interface hardware installation and technical manual (revision 5.1).
11. Sherman, A., Çavuşoǧlu, M. C., & Tendick, F. (2000). Comparison of teleoperator control architectures for palpation task. Proceedings of the ASME Dynamic Systems and Control Division, Part of the ASME International Mechanical Engineering Congress and Exposition (IMECE 2000), 2, 1261-1268.