The design and control of an experimental whole-arm manipulator
The fifth international symposium on Robotics research
Telerobotics, automation, and human supervisory control
Telerobotics, automation, and human supervisory control
Direct kinematics and assembly modes of parallel manipulators
International Journal of Robotics Research
Impulse-based simulation of rigid bodies
I3D '95 Proceedings of the 1995 symposium on Interactive 3D graphics
“Virtual fixtures”: perceptual overlays enhance operator performance in telepresence tasks
“Virtual fixtures”: perceptual overlays enhance operator performance in telepresence tasks
Passive implementation of multibody simulations for haptic display
Passive implementation of multibody simulations for haptic display
Event-Based Haptics and Acceleration Matching: Portraying and Assessing the Realism of Contact
WHC '05 Proceedings of the First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
Haptic Display of Constrained Dynamic Systems via Admittance Displays
IEEE Transactions on Robotics
International Journal of Robotics Research
Steerability in Planar Dissipative Passive Robots
International Journal of Robotics Research
Hi-index | 0.00 |
The design, control and performance of the Cobotic Hand Controller, a novel, six-degree-of-freedom, admittance controlled haptic display is examined. A highly geared admittance architecture is often used to render high impedances with reasonable sized actuators for a haptic display. The Cobotic Hand Controller is an extremely faithful realization of an admittance display, since it is capable of obtaining an infinite gear ratio and can render infinite impedances (up to its own structural stiffness). The incorporation of continuously variable transmissions utilizing hardened steel elements in dry-friction rolling contact provide the Cobotic Hand Controller with high bandwidth, low power requirements, and an extremely wide stable dynamic range. Here, an admittance based control algorithm for powered cobots, a novel solution to the actuation redundancy of this device, and a heuristic to avoid slip in the transmissions are described. The performance of the Cobotic Hand Controller is measured in terms of dynamic range.