Introduction to haptics and haptic technologies

W.S. Harwin, University of Reading

CY4J9 - 2009

Haptic Interface designs

Date-n

This material available on the internet from page http://www.rdg.ac.uk/~shshawin/LN/ and then follow the Haptic devices link .

Guidelines

Large mass is a problem as device then needs large forces to accelerate and decellerate the mass
structural vibration is a problem. To emulate high stiffness requires a stiff structure, but mass needs to be reduced and this can result in vibration modes in the haptic device.
High numbers of degrees of freedom are a problem. For each degree of freedom it is necessary to provide actuators and controllers, plus it becomes increasingly difficult to transmit power through a series of links to the point where the forces are needed.

Parallel mechanisms may be the answer but often a parallel mechanism has a smaller workspace, limiting the realism of the haptic interface.

Lowering inertia with system stacking

System stacking, An intelligent vibrotactile device on a back drivable device on an admittance device!

Exemplars

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Other examples of haptic interfaces are in the haptics gallery

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Magnetic levetation

Butterfly haptics Maglev 200

kinematics = maglev

active Dof = 6

weblink = www.butterflyhaptics.com

U.Reading High frequency probe

kinematics = maglev

active Dof = 1 (+3 Phantom)

weblink =

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Linkages - Commercial

Reachin

kinematics = RRR (Phantom based)

Active DoF = 3

weblink = www.reachin.se

Phantom

kinematics = RRR

Active DoF = 3

weblink = www.sensable.com

--check on omni and desktop --

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Perforce cyber impact

kinematics = PPPRRR

active DoF = 6

Haption Virtuose 3D and 6D

kinematics = RRR?

weblink www.haption.com

Freedom 6S

Youtube

6 Dof Pen like interface kinematics = RRRRRR mpb-technologies, Canada

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HapticMaster (2)

kinematics = RPP

active DoF = 3

weblink

http://www.moog.com/products/haptics-robotics/

Quanser

weblink

www.quanser.com

Forcedimension Delta

weblink

http://www.forcedimension.com

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Novint

Novint Falcon

kinematics = Parallel (Forcedimension based)

Active DoF = 3

weblink = www.novint.com

Linkages - Research

McGill/UBC Pantograph

kinekmatics = ((RR)(RR))((RR)(RR))

Grab project

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Spidar

kinematics = (PPPP)

active DoF = 4 (1 redundant)

weblink = Makoto SATO Lab

weblink = Cyverse

FW 6 Project Vega (http://www.project-vega.ro/)

Force 'feedback' joystick

Microsoft sidewinder

Nasa

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Exoskeletons and powered orthoses

Mulos

U. Tokyo Exoskeleton

Wright Patterson

Bio robotics lab

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Cobots

weblinks = http://haptic.mech.northwestern.edu

http://www.comoco-inc.com/

http://www.cobotics.com/

Medical simulators and telerobotics masters

Imperial College intervention radiology simulator

Dr Vincent Luboz and Dr Fernando Bello

Simon Fraser University Endoscope

weblinks = www.sfu.ca

Multi finger

Cybergrasp

joint repeatability 1degree

Max force = 12 N

kinematics= ungrounded

weblink www.immersion.com

Exos Dextrous hand master exoskeleton

Stanford

weblink

http://robotics.stanford.edu/~barbagli/projects.html

University of Reading

ISRG at U.Reading

Kyoto University

Encounter haptics

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Tactile

Tactile feedback on fingers.

Surgical robotics with haptic feedback

Acrobot Ltd.

acrobot.co.uk

Comparison of Performance

Product	DoF	Fmax	Fcont	Stiffness	Median Workspace	Endpoint inertia
Freedom cubic	3	2.5N			290mm
Omega.x (Force dimension)	3	12N	12N	14.5N/mm	110mm
Falcon (Novint)	3	9N		8N/mm	100mm
HapticMaster (FCS-Moog)	3	250N	100N	50N/mm	360mm	2000g
Omni (Sensable)	3	3.3N	0.88N	1.26N/mm	120mm	45g
Phantom 1.5	3	8.5N	1.4N	3.5N/mm	267mm	75g
Quanser Mirage	3	100N	25N	2N/mm	300mm	300g
Quanser planar	2	10.1	3.1N		270mm
Quanser wand	3	9	3N	xx	420mm	xx
Virtuose 3D15-25	3	15N	5N	0.8N/mm	250mm
Virtuose 6D35-45	6	35N	10N		450mm
Virtuose 6D40-40	6	100N	30N		400mm
Maglev 200	6	40N (3.6Nm)		50N/mm (5.1 Nm/deg)	24mm /8 deg	510g