Design and control concepts of a hyper redundant haptic interface for interaction with virtual environments

Ueberle, M.; Mock, N.; Peer, Angelika; Michas, C.; Buss, M.

Abstract

This paper discusses the design concept of a hyper-redundant haptic interface with 10 actuated degreesof- freedom (DOF). The kinematical redundancies allow a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved. Numerical studies comparing the performance of local redundancy optimisation techniques are presented. Besides a construction possibility for virtual environments based on methods for visual and haptic rendering is presented.

• Presentation Conference Type: Conference Paper (unpublished)
• Conference Name: IEEE/RSJ International Conference on Intelligent Robots and Systems
• Start Date: Sep 28, 2004
• End Date: Oct 2, 2004
• Publication Date: Jan 1, 2004
• Peer Reviewed: Peer Reviewed
• Keywords: hyper redundant, haptic interface, virtual environments, interaction
• Public URL: https://uwe-repository.worktribe.com/output/1066115
• Additional Information: Title of Conference or Conference Proceedings : IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Touch and Haptics