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Title: Experimental evaluation of actuation and sensing capabilities of a haptic device
Authors: Mobedi, Emir
Görgülü, İbrahimcan
Dede, Mehmet İsmet Can
Keywords: Haptic interfaces
Experimental performance evaluation
System identification
Haptic devices
Issue Date: 2019
Publisher: Springer
Source: Mobedi, E., Görgülü, İ., and Dede, M.İ.C. (2019). Experimental evaluation of actuation and sensing capabilities of a haptic device. In B. Corves, P. Wenger, and M. Hüsing (Eds.), EuCoMeS 2018: Proceedings of the 7th European Conference on Mechanism Science, (pp. 137-144). doi:10.1007/978-3-319-98020-1_16
Abstract: Haptic devices are used to increase the telepresence level by providing the sense of touch to the human operator. Simultaneously, they capture the targeted motion of the human operator to generate a motion demand for the teleoperated slave system. Considering a scenario where the slave system’s end-effector is handled by the human operator at the master side, which is attached to the haptic device, an ideal haptic interaction involves the feeling of only the end-effector dynamics and the accurate sensation of the end-effector pose. The performance of a haptic device is based on these two functionalities. In this paper, the experimental evaluation of the actuation and sensing capabilities of a haptic device, HIPHAD v1.0 kinesthetic haptic device, is presented.
ISBN: 978-3-319-98019-5
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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