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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.


M. Ueberle

N. Mock

Angelika Peer

C. Michas

M. Buss


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Presentation Conference Type Conference Paper (unpublished)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
Additional Information Title of Conference or Conference Proceedings : IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Touch and Haptics

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