Direct-drive robots: theory and practice
Direct-drive robots: theory and practice
Foundations of robotics: analysis and control
Foundations of robotics: analysis and control
The pantograph: a large workspace haptic device for multimodal human computer interaction
CHI '94 Conference Companion on Human Factors in Computing Systems
Advanced Robotics: Redundancy and Optimization
Advanced Robotics: Redundancy and Optimization
Pen-based haptic virtual environment
VRAIS '93 Proceedings of the 1993 IEEE Virtual Reality Annual International Symposium
A survey of perceptual feedback issues in dexterous telemanipulation. I. Finger force feedback
VRAIS '93 Proceedings of the 1993 IEEE Virtual Reality Annual International Symposium
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Proceedings of the 15th annual ACM symposium on User interface software and technology
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CHI '04 Extended Abstracts on Human Factors in Computing Systems
Actuation and tangible user interfaces: the Vaucanson duck, robots, and shape displays
Proceedings of the 1st international conference on Tangible and embedded interaction
Implementation of Partial Surface Display
Presence: Teleoperators and Virtual Environments
Manipulation d'un zoom haptique continu via un dispo-sitif de substitution sensorielle
IHM '07 Proceedings of the 19th International Conference of the Association Francophone d'Interaction Homme-Machine
Low cost actuator and sensor for high-fidelity haptic interfaces
HAPTICS'04 Proceedings of the 12th international conference on Haptic interfaces for virtual environment and teleoperator systems
Wubi-pen: Sensory feedback stylus interacting with graphical user interface
Presence: Teleoperators and Virtual Environments
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We describe the structure of a force display recently implemented for precision manipulation of scaled or virtual environments. We discuss the advantages of direct-drive parallel manipulators over geared serial manipulators for human-robot interaction application and introduce the serial-parallel structure we chose for our robot which interfaces with the human operator either at the fingertip or at the tip of a freely held pen-like instrument. We derive the statics and the dynamics, and then introduce the optimization criteria that allowed us to choose the dimensional parameters for the force display. Finally we show some of the potential application for this device.