HapticMaster - a generic force controlled robot for human interaction

This paper describes the technical principles of a high-performance force controlled robot, called the HapticMaster. It is designed as a generic platform for applications with human interaction. Therefore, it differs significantly from most industrial robots on the one hand, whereas it also differs...

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Bibliographic Details
Published inIndustrial robot Vol. 30; no. 6; pp. 515 - 524
Main Authors van der Linde, R.Q., Lammertse, P.
Format Journal Article
LanguageEnglish
Published Bedford MCB UP Ltd 01.12.2003
Emerald Group Publishing Limited
Subjects
Control algorithms
Friction
Haptics
Interfaces
Man machine interface
Robotics
Robots
Sensors
Simulation
Studies
Virtual reality
Man machine interface
Robotics
Online AccessGet full text
ISSN0143-991X
1758-5791
DOI10.1108/01439910310506783

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Summary:This paper describes the technical principles of a high-performance force controlled robot, called the HapticMaster. It is designed as a generic platform for applications with human interaction. Therefore, it differs significantly from most industrial robots on the one hand, whereas it also differs from most haptic interfaces on the other hand due to its power. An admittance control paradigm is used, which facilitates a high joint stiffness in combination with high force sensitivity. Typical applications for the HapticMaster are found in virtual reality, haptics research, and robot rehabilitation.
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ISSN:0143-991X
1758-5791
DOI:10.1108/01439910310506783